id	sid	tid	token	lemma	pos
cuesj-1036	1	1	tx_1	tx_1	PROPN
cuesj-1036	1	2	~	~	X
cuesj-1036	1	3	abs	ab	NOUN
cuesj-1036	1	4	:	:	PUNCT
cuesj-1036	1	5	at	at	ADP
cuesj-1036	1	6	/	/	SYM
cuesj-1036	1	7	add	add	VERB
cuesj-1036	1	8	:	:	PUNCT
cuesj-1036	1	9	tx_2	tx_2	PROPN
cuesj-1036	1	10	~	~	NOUN
cuesj-1036	1	11	abs	ab	NOUN
cuesj-1036	1	12	:	:	PUNCT
cuesj-1036	1	13	at	at	ADP
cuesj-1036	1	14	54	54	NUM
cuesj-1036	1	15	http://journals.cihanuniversity.edu.iq/index.php/cuesj	http://journals.cihanuniversity.edu.iq/index.php/cuesj	ADJ
cuesj-1036	1	16	cuesj	cuesj	NOUN
cuesj-1036	1	17	2023	2023	NUM
cuesj-1036	1	18	,	,	PUNCT
cuesj-1036	1	19	7	7	NUM
cuesj-1036	1	20	(	(	PUNCT
cuesj-1036	1	21	2	2	NUM
cuesj-1036	1	22	):	):	PUNCT
cuesj-1036	1	23	54	54	NUM
cuesj-1036	1	24	-	-	SYM
cuesj-1036	1	25	59	59	NUM
cuesj-1036	1	26	research	research	NOUN
cuesj-1036	1	27	article	article	NOUN
cuesj-1036	1	28	converting	convert	VERB
cuesj-1036	1	29	a	a	DET
cuesj-1036	1	30	dji	dji	NOUN
cuesj-1036	1	31	tello	tello	PROPN
cuesj-1036	1	32	quadcopter	quadcopter	PROPN
cuesj-1036	1	33	into	into	ADP
cuesj-1036	1	34	a	a	DET
cuesj-1036	1	35	face	face	NOUN
cuesj-1036	1	36	-	-	PUNCT
cuesj-1036	1	37	follower	follower	NOUN
cuesj-1036	1	38	machine	machine	NOUN
cuesj-1036	1	39	using	use	VERB
cuesj-1036	1	40	the	the	DET
cuesj-1036	1	41	haar	haar	NOUN
cuesj-1036	1	42	cascade	cascade	NOUN
cuesj-1036	1	43	with	with	ADP
cuesj-1036	1	44	pid	pid	NOUN
cuesj-1036	1	45	controller	controller	NOUN
cuesj-1036	1	46	shalaw	shalaw	NOUN
cuesj-1036	1	47	m.	m.	PROPN
cuesj-1036	1	48	abdallah	abdallah	PROPN
cuesj-1036	1	49	department	department	PROPN
cuesj-1036	1	50	of	of	ADP
cuesj-1036	1	51	software	software	PROPN
cuesj-1036	1	52	engineering	engineering	PROPN
cuesj-1036	1	53	,	,	PUNCT
cuesj-1036	1	54	koya	koya	PROPN
cuesj-1036	1	55	university	university	PROPN
cuesj-1036	1	56	,	,	PUNCT
cuesj-1036	1	57	kurdistan	kurdistan	PROPN
cuesj-1036	1	58	region	region	NOUN
cuesj-1036	1	59	,	,	PUNCT
cuesj-1036	1	60	iraq	iraq	PROPN
cuesj-1036	1	61	abstract	abstract	ADJ
cuesj-1036	1	62	drones	drone	NOUN
cuesj-1036	1	63	have	have	AUX
cuesj-1036	1	64	been	be	AUX
cuesj-1036	1	65	frequently	frequently	ADV
cuesj-1036	1	66	used	use	VERB
cuesj-1036	1	67	for	for	ADP
cuesj-1036	1	68	photography	photography	NOUN
cuesj-1036	1	69	in	in	ADP
cuesj-1036	1	70	recent	recent	ADJ
cuesj-1036	1	71	years	year	NOUN
cuesj-1036	1	72	at	at	ADP
cuesj-1036	1	73	significantly	significantly	ADV
cuesj-1036	1	74	cheaper	cheap	ADJ
cuesj-1036	1	75	rates	rate	NOUN
cuesj-1036	1	76	.	.	PUNCT
cuesj-1036	2	1	however	however	ADV
cuesj-1036	2	2	,	,	PUNCT
cuesj-1036	2	3	the	the	DET
cuesj-1036	2	4	most	most	ADV
cuesj-1036	2	5	modern	modern	ADJ
cuesj-1036	2	6	drones	drone	NOUN
cuesj-1036	2	7	are	be	AUX
cuesj-1036	2	8	exceedingly	exceedingly	ADV
cuesj-1036	2	9	error	error	NOUN
cuesj-1036	2	10	-	-	PUNCT
cuesj-1036	2	11	prone	prone	ADJ
cuesj-1036	2	12	and	and	CCONJ
cuesj-1036	2	13	require	require	VERB
cuesj-1036	2	14	precise	precise	ADJ
cuesj-1036	2	15	manual	manual	ADJ
cuesj-1036	2	16	control	control	NOUN
cuesj-1036	2	17	to	to	PART
cuesj-1036	2	18	take	take	VERB
cuesj-1036	2	19	high	high	ADJ
cuesj-1036	2	20	-	-	PUNCT
cuesj-1036	2	21	quality	quality	NOUN
cuesj-1036	2	22	photos	photo	NOUN
cuesj-1036	2	23	or	or	CCONJ
cuesj-1036	2	24	films	film	NOUN
cuesj-1036	2	25	.	.	PUNCT
cuesj-1036	3	1	we	we	PRON
cuesj-1036	3	2	suggest	suggest	VERB
cuesj-1036	3	3	using	use	VERB
cuesj-1036	3	4	the	the	DET
cuesj-1036	3	5	ai	ai	ADJ
cuesj-1036	3	6	method	method	NOUN
cuesj-1036	3	7	of	of	ADP
cuesj-1036	3	8	haar	haar	NOUN
cuesj-1036	3	9	cascades	cascade	VERB
cuesj-1036	3	10	with	with	ADP
cuesj-1036	3	11	a	a	DET
cuesj-1036	3	12	pid	pid	NOUN
cuesj-1036	3	13	controller	controller	NOUN
cuesj-1036	3	14	to	to	PART
cuesj-1036	3	15	give	give	VERB
cuesj-1036	3	16	drones	drone	NOUN
cuesj-1036	3	17	vision	vision	NOUN
cuesj-1036	3	18	,	,	PUNCT
cuesj-1036	3	19	enabling	enable	VERB
cuesj-1036	3	20	them	they	PRON
cuesj-1036	3	21	to	to	PART
cuesj-1036	3	22	do	do	VERB
cuesj-1036	3	23	autonomous	autonomous	ADJ
cuesj-1036	3	24	tracking	tracking	NOUN
cuesj-1036	3	25	and	and	CCONJ
cuesj-1036	3	26	detection	detection	NOUN
cuesj-1036	3	27	.	.	PUNCT
cuesj-1036	4	1	this	this	DET
cuesj-1036	4	2	project	project	NOUN
cuesj-1036	4	3	aims	aim	VERB
cuesj-1036	4	4	to	to	PART
cuesj-1036	4	5	improve	improve	VERB
cuesj-1036	4	6	photography	photography	NOUN
cuesj-1036	4	7	fields	field	NOUN
cuesj-1036	4	8	.	.	PUNCT
cuesj-1036	5	1	the	the	DET
cuesj-1036	5	2	proposed	propose	VERB
cuesj-1036	5	3	system	system	NOUN
cuesj-1036	5	4	tries	try	VERB
cuesj-1036	5	5	to	to	PART
cuesj-1036	5	6	detect	detect	VERB
cuesj-1036	5	7	the	the	DET
cuesj-1036	5	8	face	face	NOUN
cuesj-1036	5	9	and	and	CCONJ
cuesj-1036	5	10	track	track	VERB
cuesj-1036	5	11	the	the	DET
cuesj-1036	5	12	person	person	NOUN
cuesj-1036	5	13	’s	’s	PART
cuesj-1036	5	14	movements	movement	NOUN
cuesj-1036	5	15	.	.	PUNCT
cuesj-1036	6	1	this	this	DET
cuesj-1036	6	2	system	system	NOUN
cuesj-1036	6	3	will	will	AUX
cuesj-1036	6	4	help	help	VERB
cuesj-1036	6	5	photographers	photographer	NOUN
cuesj-1036	6	6	and	and	CCONJ
cuesj-1036	6	7	journalists	journalist	NOUN
cuesj-1036	6	8	upgrade	upgrade	VERB
cuesj-1036	6	9	their	their	PRON
cuesj-1036	6	10	work	work	NOUN
cuesj-1036	6	11	,	,	PUNCT
cuesj-1036	6	12	even	even	ADV
cuesj-1036	6	13	if	if	SCONJ
cuesj-1036	6	14	it	it	PRON
cuesj-1036	6	15	is	be	AUX
cuesj-1036	6	16	used	use	VERB
cuesj-1036	6	17	in	in	ADP
cuesj-1036	6	18	surveillance	surveillance	NOUN
cuesj-1036	6	19	and	and	CCONJ
cuesj-1036	6	20	the	the	DET
cuesj-1036	6	21	military	military	NOUN
cuesj-1036	6	22	.	.	PUNCT
cuesj-1036	7	1	the	the	DET
cuesj-1036	7	2	algorithm	algorithm	NOUN
cuesj-1036	7	3	’s	’s	PART
cuesj-1036	7	4	results	result	NOUN
cuesj-1036	7	5	show	show	VERB
cuesj-1036	7	6	that	that	SCONJ
cuesj-1036	7	7	the	the	DET
cuesj-1036	7	8	dji	dji	PROPN
cuesj-1036	7	9	tello	tello	PROPN
cuesj-1036	7	10	tiny	tiny	ADJ
cuesj-1036	7	11	drone	drone	NOUN
cuesj-1036	7	12	’s	’s	PART
cuesj-1036	7	13	camera	camera	NOUN
cuesj-1036	7	14	is	be	AUX
cuesj-1036	7	15	capable	capable	ADJ
cuesj-1036	7	16	of	of	ADP
cuesj-1036	7	17	detecting	detect	VERB
cuesj-1036	7	18	and	and	CCONJ
cuesj-1036	7	19	tracking	tracking	NOUN
cuesj-1036	7	20	faces	face	NOUN
cuesj-1036	7	21	.	.	PUNCT
cuesj-1036	8	1	the	the	DET
cuesj-1036	8	2	micro	micro	PROPN
cuesj-1036	8	3	drone	drone	NOUN
cuesj-1036	8	4	was	be	AUX
cuesj-1036	8	5	picked	pick	VERB
cuesj-1036	8	6	since	since	SCONJ
cuesj-1036	8	7	it	it	PRON
cuesj-1036	8	8	is	be	AUX
cuesj-1036	8	9	lightweight	lightweight	ADJ
cuesj-1036	8	10	and	and	CCONJ
cuesj-1036	8	11	compact	compact	ADJ
cuesj-1036	8	12	,	,	PUNCT
cuesj-1036	8	13	making	make	VERB
cuesj-1036	8	14	its	its	PRON
cuesj-1036	8	15	use	use	NOUN
cuesj-1036	8	16	safe	safe	ADJ
cuesj-1036	8	17	and	and	CCONJ
cuesj-1036	8	18	enabling	enable	VERB
cuesj-1036	8	19	testing	testing	NOUN
cuesj-1036	8	20	to	to	PART
cuesj-1036	8	21	take	take	VERB
cuesj-1036	8	22	place	place	NOUN
cuesj-1036	8	23	inside	inside	ADV
cuesj-1036	8	24	.	.	PUNCT
cuesj-1036	9	1	in	in	ADP
cuesj-1036	9	2	addition	addition	NOUN
cuesj-1036	9	3	,	,	PUNCT
cuesj-1036	9	4	the	the	DET
cuesj-1036	9	5	dji	dji	PROPN
cuesj-1036	9	6	tello	tello	PROPN
cuesj-1036	9	7	may	may	AUX
cuesj-1036	9	8	be	be	AUX
cuesj-1036	9	9	easily	easily	ADV
cuesj-1036	9	10	programmed	program	VERB
cuesj-1036	9	11	using	use	VERB
cuesj-1036	9	12	python	python	NOUN
cuesj-1036	9	13	.	.	PUNCT
cuesj-1036	10	1	the	the	DET
cuesj-1036	10	2	position	position	NOUN
cuesj-1036	10	3	of	of	ADP
cuesj-1036	10	4	the	the	DET
cuesj-1036	10	5	drone	drone	NOUN
cuesj-1036	10	6	is	be	AUX
cuesj-1036	10	7	contrasted	contrast	VERB
cuesj-1036	10	8	with	with	ADP
cuesj-1036	10	9	the	the	DET
cuesj-1036	10	10	set	set	NOUN
cuesj-1036	10	11	point	point	NOUN
cuesj-1036	10	12	in	in	ADP
cuesj-1036	10	13	the	the	DET
cuesj-1036	10	14	center	center	NOUN
cuesj-1036	10	15	of	of	ADP
cuesj-1036	10	16	the	the	DET
cuesj-1036	10	17	image	image	NOUN
cuesj-1036	10	18	to	to	PART
cuesj-1036	10	19	identify	identify	VERB
cuesj-1036	10	20	errors	error	NOUN
cuesj-1036	10	21	,	,	PUNCT
cuesj-1036	10	22	allowing	allow	VERB
cuesj-1036	10	23	control	control	NOUN
cuesj-1036	10	24	signals	signal	NOUN
cuesj-1036	10	25	for	for	ADP
cuesj-1036	10	26	calculating	calculate	VERB
cuesj-1036	10	27	forward	forward	ADV
cuesj-1036	10	28	/	/	SYM
cuesj-1036	10	29	backward	backward	ADJ
cuesj-1036	10	30	,	,	PUNCT
cuesj-1036	10	31	right	right	ADJ
cuesj-1036	10	32	/	/	PUNCT
cuesj-1036	10	33	left	left	ADJ
cuesj-1036	10	34	,	,	PUNCT
cuesj-1036	10	35	and	and	CCONJ
cuesj-1036	10	36	yaw	yaw	NOUN
cuesj-1036	10	37	movements	movement	NOUN
cuesj-1036	10	38	.	.	PUNCT
cuesj-1036	11	1	the	the	DET
cuesj-1036	11	2	proposed	propose	VERB
cuesj-1036	11	3	system	system	NOUN
cuesj-1036	11	4	results	result	NOUN
cuesj-1036	11	5	show	show	VERB
cuesj-1036	11	6	that	that	SCONJ
cuesj-1036	11	7	the	the	DET
cuesj-1036	11	8	drone	drone	NOUN
cuesj-1036	11	9	can	can	AUX
cuesj-1036	11	10	detect	detect	VERB
cuesj-1036	11	11	and	and	CCONJ
cuesj-1036	11	12	track	track	VERB
cuesj-1036	11	13	the	the	DET
cuesj-1036	11	14	face	face	NOUN
cuesj-1036	11	15	very	very	ADV
cuesj-1036	11	16	well	well	ADV
cuesj-1036	11	17	,	,	PUNCT
cuesj-1036	11	18	and	and	CCONJ
cuesj-1036	11	19	the	the	DET
cuesj-1036	11	20	pid	pid	NOUN
cuesj-1036	11	21	values	value	NOUN
cuesj-1036	11	22	are	be	AUX
cuesj-1036	11	23	stable	stable	ADJ
cuesj-1036	11	24	.	.	PUNCT
cuesj-1036	12	1	keywords	keyword	NOUN
cuesj-1036	12	2	:	:	PUNCT
cuesj-1036	12	3	backward	backward	ADJ
cuesj-1036	12	4	/	/	SYM
cuesj-1036	12	5	forward	forward	ADV
cuesj-1036	12	6	,	,	PUNCT
cuesj-1036	12	7	dji	dji	PROPN
cuesj-1036	12	8	tello	tello	PROPN
cuesj-1036	12	9	,	,	PUNCT
cuesj-1036	12	10	haar	haar	PROPN
cuesj-1036	12	11	cascade	cascade	PROPN
cuesj-1036	12	12	,	,	PUNCT
cuesj-1036	12	13	pid	pid	NOUN
cuesj-1036	12	14	controller	controller	NOUN
cuesj-1036	12	15	,	,	PUNCT
cuesj-1036	12	16	right	right	ADJ
cuesj-1036	12	17	/	/	PUNCT
cuesj-1036	12	18	left	left	ADJ
cuesj-1036	12	19	,	,	PUNCT
cuesj-1036	12	20	tello	tello	PROPN
cuesj-1036	12	21	drone	drone	NOUN
cuesj-1036	12	22	introduction	introduction	NOUN
cuesj-1036	12	23	today	today	NOUN
cuesj-1036	12	24	’s	’s	PART
cuesj-1036	12	25	drones	drone	NOUN
cuesj-1036	12	26	are	be	AUX
cuesj-1036	12	27	packed	pack	VERB
cuesj-1036	12	28	with	with	ADP
cuesj-1036	12	29	cameras	camera	NOUN
cuesj-1036	12	30	and	and	CCONJ
cuesj-1036	12	31	have	have	VERB
cuesj-1036	12	32	a	a	DET
cuesj-1036	12	33	lot	lot	NOUN
cuesj-1036	12	34	of	of	ADP
cuesj-1036	12	35	possible	possible	ADJ
cuesj-1036	12	36	uses	use	NOUN
cuesj-1036	12	37	for	for	ADP
cuesj-1036	12	38	a	a	DET
cuesj-1036	12	39	range	range	NOUN
cuesj-1036	12	40	of	of	ADP
cuesj-1036	12	41	industrial	industrial	ADJ
cuesj-1036	12	42	applications	application	NOUN
cuesj-1036	12	43	,	,	PUNCT
cuesj-1036	12	44	among	among	ADP
cuesj-1036	12	45	them	they	PRON
cuesj-1036	12	46	photography	photography	NOUN
cuesj-1036	12	47	,	,	PUNCT
cuesj-1036	12	48	surveillance	surveillance	NOUN
cuesj-1036	12	49	,	,	PUNCT
cuesj-1036	12	50	etc	etc	X
cuesj-1036	12	51	.	.	X
cuesj-1036	13	1	drones	drone	NOUN
cuesj-1036	13	2	must	must	AUX
cuesj-1036	13	3	be	be	AUX
cuesj-1036	13	4	packed	pack	VERB
cuesj-1036	13	5	with	with	ADP
cuesj-1036	13	6	novel	novel	ADJ
cuesj-1036	13	7	computer	computer	NOUN
cuesj-1036	13	8	vision	vision	NOUN
cuesj-1036	13	9	to	to	PART
cuesj-1036	13	10	be	be	AUX
cuesj-1036	13	11	widely	widely	ADV
cuesj-1036	13	12	utilized	utilize	VERB
cuesj-1036	13	13	and	and	CCONJ
cuesj-1036	13	14	to	to	PART
cuesj-1036	13	15	further	far	ADV
cuesj-1036	13	16	cut	cut	VERB
cuesj-1036	13	17	down	down	ADP
cuesj-1036	13	18	on	on	ADP
cuesj-1036	13	19	their	their	PRON
cuesj-1036	13	20	costs	cost	NOUN
cuesj-1036	13	21	.	.	PUNCT
cuesj-1036	14	1	to	to	PART
cuesj-1036	14	2	capture	capture	VERB
cuesj-1036	14	3	important	important	ADJ
cuesj-1036	14	4	elements	element	NOUN
cuesj-1036	14	5	in	in	ADP
cuesj-1036	14	6	a	a	DET
cuesj-1036	14	7	picture	picture	NOUN
cuesj-1036	14	8	while	while	SCONJ
cuesj-1036	14	9	using	use	VERB
cuesj-1036	14	10	photography	photography	NOUN
cuesj-1036	14	11	or	or	CCONJ
cuesj-1036	14	12	surveillance	surveillance	NOUN
cuesj-1036	14	13	,	,	PUNCT
cuesj-1036	14	14	object	object	VERB
cuesj-1036	14	15	identification	identification	NOUN
cuesj-1036	14	16	,	,	PUNCT
cuesj-1036	14	17	and	and	CCONJ
cuesj-1036	14	18	tracking	tracking	NOUN
cuesj-1036	14	19	are	be	AUX
cuesj-1036	14	20	crucial	crucial	ADJ
cuesj-1036	14	21	.	.	PUNCT
cuesj-1036	15	1	in	in	ADP
cuesj-1036	15	2	computer	computer	NOUN
cuesj-1036	15	3	vision	vision	NOUN
cuesj-1036	15	4	,	,	PUNCT
cuesj-1036	15	5	object	object	VERB
cuesj-1036	15	6	detection	detection	NOUN
cuesj-1036	15	7	and	and	CCONJ
cuesj-1036	15	8	tracking	tracking	NOUN
cuesj-1036	15	9	are	be	AUX
cuesj-1036	15	10	common	common	ADJ
cuesj-1036	15	11	issues.[1	issues.[1	ADP
cuesj-1036	15	12	]	]	X
cuesj-1036	15	13	the	the	DET
cuesj-1036	15	14	employment	employment	NOUN
cuesj-1036	15	15	of	of	ADP
cuesj-1036	15	16	drones	drone	NOUN
cuesj-1036	15	17	in	in	ADP
cuesj-1036	15	18	considerably	considerably	ADV
cuesj-1036	15	19	more	more	ADJ
cuesj-1036	15	20	commercial	commercial	ADJ
cuesj-1036	15	21	fields	field	NOUN
cuesj-1036	15	22	,	,	PUNCT
cuesj-1036	15	23	including	include	VERB
cuesj-1036	15	24	photography	photography	NOUN
cuesj-1036	15	25	,	,	PUNCT
cuesj-1036	15	26	cinematography	cinematography	NOUN
cuesj-1036	15	27	,	,	PUNCT
cuesj-1036	15	28	surveillance	surveillance	NOUN
cuesj-1036	15	29	,	,	PUNCT
cuesj-1036	15	30	and	and	CCONJ
cuesj-1036	15	31	even	even	ADV
cuesj-1036	15	32	delivery	delivery	NOUN
cuesj-1036	15	33	systems	system	NOUN
cuesj-1036	15	34	,	,	PUNCT
cuesj-1036	15	35	has	have	AUX
cuesj-1036	15	36	been	be	AUX
cuesj-1036	15	37	made	make	VERB
cuesj-1036	15	38	possible	possible	ADJ
cuesj-1036	15	39	as	as	ADP
cuesj-1036	15	40	a	a	DET
cuesj-1036	15	41	result	result	NOUN
cuesj-1036	15	42	.	.	PUNCT
cuesj-1036	16	1	thus	thus	ADV
cuesj-1036	16	2	,	,	PUNCT
cuesj-1036	16	3	becoming	become	VERB
cuesj-1036	16	4	proficient	proficient	ADJ
cuesj-1036	16	5	in	in	ADP
cuesj-1036	16	6	programming	program	VERB
cuesj-1036	16	7	drones	drone	NOUN
cuesj-1036	16	8	to	to	PART
cuesj-1036	16	9	carry	carry	VERB
cuesj-1036	16	10	out	out	ADP
cuesj-1036	16	11	various	various	ADJ
cuesj-1036	16	12	duties	duty	NOUN
cuesj-1036	16	13	is	be	AUX
cuesj-1036	16	14	a	a	DET
cuesj-1036	16	15	skill	skill	NOUN
cuesj-1036	16	16	that	that	PRON
cuesj-1036	16	17	is	be	AUX
cuesj-1036	16	18	in	in	ADP
cuesj-1036	16	19	high	high	ADJ
cuesj-1036	16	20	demand	demand	NOUN
cuesj-1036	16	21	.	.	PUNCT
cuesj-1036	17	1	drones	drone	NOUN
cuesj-1036	17	2	come	come	VERB
cuesj-1036	17	3	in	in	ADP
cuesj-1036	17	4	a	a	DET
cuesj-1036	17	5	variety	variety	NOUN
cuesj-1036	17	6	of	of	ADP
cuesj-1036	17	7	sizes	size	NOUN
cuesj-1036	17	8	and	and	CCONJ
cuesj-1036	17	9	shapes	shape	NOUN
cuesj-1036	17	10	.	.	PUNCT
cuesj-1036	18	1	a	a	DET
cuesj-1036	18	2	popular	popular	ADJ
cuesj-1036	18	3	term	term	NOUN
cuesj-1036	18	4	you	you	PRON
cuesj-1036	18	5	might	might	AUX
cuesj-1036	18	6	have	have	AUX
cuesj-1036	18	7	heard	hear	VERB
cuesj-1036	18	8	for	for	ADP
cuesj-1036	18	9	a	a	DET
cuesj-1036	18	10	drone	drone	NOUN
cuesj-1036	18	11	is	be	AUX
cuesj-1036	18	12	quadcopter	quadcopter	NOUN
cuesj-1036	18	13	.	.	PUNCT
cuesj-1036	19	1	this	this	PRON
cuesj-1036	19	2	points	point	VERB
cuesj-1036	19	3	out	out	ADP
cuesj-1036	19	4	a	a	DET
cuesj-1036	19	5	drone	drone	NOUN
cuesj-1036	19	6	with	with	ADP
cuesj-1036	19	7	four	four	NUM
cuesj-1036	19	8	propellers	propeller	NOUN
cuesj-1036	19	9	or	or	CCONJ
cuesj-1036	19	10	motors	motor	NOUN
cuesj-1036	19	11	.	.	PUNCT
cuesj-1036	20	1	likewise	likewise	ADV
cuesj-1036	20	2	,	,	PUNCT
cuesj-1036	20	3	a	a	DET
cuesj-1036	20	4	hexacopter	hexacopter	NOUN
cuesj-1036	20	5	has	have	VERB
cuesj-1036	20	6	six	six	NUM
cuesj-1036	20	7	propellers	propeller	NOUN
cuesj-1036	20	8	,	,	PUNCT
cuesj-1036	20	9	and	and	CCONJ
cuesj-1036	20	10	an	an	DET
cuesj-1036	20	11	octocopter	octocopter	NOUN
cuesj-1036	20	12	has	have	VERB
cuesj-1036	20	13	eight	eight	NUM
cuesj-1036	20	14	propellers	propeller	NOUN
cuesj-1036	20	15	.	.	PUNCT
cuesj-1036	21	1	a	a	DET
cuesj-1036	21	2	drone	drone	NOUN
cuesj-1036	21	3	’s	’s	PART
cuesj-1036	21	4	frame	frame	NOUN
cuesj-1036	21	5	,	,	PUNCT
cuesj-1036	21	6	motors	motor	NOUN
cuesj-1036	21	7	,	,	PUNCT
cuesj-1036	21	8	propellers	propeller	NOUN
cuesj-1036	21	9	,	,	PUNCT
cuesj-1036	21	10	global	global	ADJ
cuesj-1036	21	11	positioning	positioning	NOUN
cuesj-1036	21	12	system	system	NOUN
cuesj-1036	21	13	(	(	PUNCT
cuesj-1036	21	14	gps	gps	PROPN
cuesj-1036	21	15	)	)	PUNCT
cuesj-1036	21	16	,	,	PUNCT
cuesj-1036	21	17	power	power	NOUN
cuesj-1036	21	18	distribution	distribution	NOUN
cuesj-1036	21	19	board	board	NOUN
cuesj-1036	21	20	,	,	PUNCT
cuesj-1036	21	21	flight	flight	NOUN
cuesj-1036	21	22	controller	controller	NOUN
cuesj-1036	21	23	,	,	PUNCT
cuesj-1036	21	24	battery	battery	NOUN
cuesj-1036	21	25	,	,	PUNCT
cuesj-1036	21	26	bluetooth	bluetooth	PROPN
cuesj-1036	21	27	receiver	receiver	NOUN
cuesj-1036	21	28	,	,	PUNCT
cuesj-1036	21	29	camera	camera	NOUN
cuesj-1036	21	30	,	,	PUNCT
cuesj-1036	21	31	video	video	NOUN
cuesj-1036	21	32	transmitter	transmitter	NOUN
cuesj-1036	21	33	,	,	PUNCT
cuesj-1036	21	34	and	and	CCONJ
cuesj-1036	21	35	a	a	DET
cuesj-1036	21	36	few	few	ADJ
cuesj-1036	21	37	sensors	sensor	NOUN
cuesj-1036	21	38	will	will	AUX
cuesj-1036	21	39	make	make	VERB
cuesj-1036	21	40	up	up	ADP
cuesj-1036	21	41	its	its	PRON
cuesj-1036	21	42	basic	basic	ADJ
cuesj-1036	21	43	components	component	NOUN
cuesj-1036	21	44	;	;	PUNCT
cuesj-1036	21	45	everything	everything	PRON
cuesj-1036	21	46	is	be	AUX
cuesj-1036	21	47	held	hold	VERB
cuesj-1036	21	48	together	together	ADV
cuesj-1036	21	49	by	by	ADP
cuesj-1036	21	50	the	the	DET
cuesj-1036	21	51	body	body	NOUN
cuesj-1036	21	52	.	.	PUNCT
cuesj-1036	22	1	the	the	DET
cuesj-1036	22	2	system	system	NOUN
cuesj-1036	22	3	that	that	PRON
cuesj-1036	22	4	generates	generate	VERB
cuesj-1036	22	5	lift	lift	NOUN
cuesj-1036	22	6	and	and	CCONJ
cuesj-1036	22	7	enables	enable	VERB
cuesj-1036	22	8	the	the	DET
cuesj-1036	22	9	drone	drone	NOUN
cuesj-1036	22	10	to	to	PART
cuesj-1036	22	11	fly	fly	VERB
cuesj-1036	22	12	can	can	AUX
cuesj-1036	22	13	be	be	AUX
cuesj-1036	22	14	thought	think	VERB
cuesj-1036	22	15	of	of	ADP
cuesj-1036	22	16	as	as	ADP
cuesj-1036	22	17	having	have	VERB
cuesj-1036	22	18	motors	motor	NOUN
cuesj-1036	22	19	as	as	ADP
cuesj-1036	22	20	its	its	PRON
cuesj-1036	22	21	engine.[2,3	engine.[2,3	NOUN
cuesj-1036	22	22	]	]	X
cuesj-1036	22	23	a	a	DET
cuesj-1036	22	24	drone	drone	NOUN
cuesj-1036	22	25	uses	use	VERB
cuesj-1036	22	26	two	two	NUM
cuesj-1036	22	27	different	different	ADJ
cuesj-1036	22	28	types	type	NOUN
cuesj-1036	22	29	of	of	ADP
cuesj-1036	22	30	motors	motor	NOUN
cuesj-1036	22	31	.	.	PUNCT
cuesj-1036	23	1	there	there	PRON
cuesj-1036	23	2	are	be	VERB
cuesj-1036	23	3	two	two	NUM
cuesj-1036	23	4	different	different	ADJ
cuesj-1036	23	5	kinds	kind	NOUN
cuesj-1036	23	6	of	of	ADP
cuesj-1036	23	7	motors	motor	NOUN
cuesj-1036	23	8	used	use	VERB
cuesj-1036	23	9	in	in	ADP
cuesj-1036	23	10	drones	drone	NOUN
cuesj-1036	23	11	,	,	PUNCT
cuesj-1036	23	12	both	both	PRON
cuesj-1036	23	13	brushed	brush	VERB
cuesj-1036	23	14	and	and	CCONJ
cuesj-1036	23	15	non	non	ADJ
cuesj-1036	23	16	-	-	ADJ
cuesj-1036	23	17	brushed	brushed	ADJ
cuesj-1036	23	18	.	.	PUNCT
cuesj-1036	24	1	brushless	brushless	PROPN
cuesj-1036	24	2	motors	motor	NOUN
cuesj-1036	24	3	are	be	AUX
cuesj-1036	24	4	more	more	ADV
cuesj-1036	24	5	expensive	expensive	ADJ
cuesj-1036	24	6	but	but	CCONJ
cuesj-1036	24	7	have	have	VERB
cuesj-1036	24	8	a	a	DET
cuesj-1036	24	9	superior	superior	ADJ
cuesj-1036	24	10	cost	cost	NOUN
cuesj-1036	24	11	-	-	PUNCT
cuesj-1036	24	12	to	to	ADP
cuesj-1036	24	13	-	-	PUNCT
cuesj-1036	24	14	power	power	NOUN
cuesj-1036	24	15	ratio	ratio	NOUN
cuesj-1036	24	16	than	than	ADP
cuesj-1036	24	17	brushed	brush	VERB
cuesj-1036	24	18	motors	motor	NOUN
cuesj-1036	24	19	,	,	PUNCT
cuesj-1036	24	20	which	which	PRON
cuesj-1036	24	21	are	be	AUX
cuesj-1036	24	22	straightforward	straightforward	ADJ
cuesj-1036	24	23	and	and	CCONJ
cuesj-1036	24	24	inexpensive	inexpensive	ADJ
cuesj-1036	24	25	.	.	PUNCT
cuesj-1036	25	1	the	the	DET
cuesj-1036	25	2	lift	lift	NOUN
cuesj-1036	25	3	force	force	NOUN
cuesj-1036	25	4	is	be	AUX
cuesj-1036	25	5	produced	produce	VERB
cuesj-1036	25	6	by	by	ADP
cuesj-1036	25	7	the	the	DET
cuesj-1036	25	8	propellers	propeller	NOUN
cuesj-1036	25	9	as	as	ADV
cuesj-1036	25	10	soon	soon	ADV
cuesj-1036	25	11	as	as	SCONJ
cuesj-1036	25	12	the	the	DET
cuesj-1036	25	13	motors	motor	NOUN
cuesj-1036	25	14	begin	begin	VERB
cuesj-1036	25	15	to	to	PART
cuesj-1036	25	16	rotate	rotate	VERB
cuesj-1036	25	17	.	.	PUNCT
cuesj-1036	26	1	any	any	DET
cuesj-1036	26	2	given	give	VERB
cuesj-1036	26	3	drone	drone	NOUN
cuesj-1036	26	4	will	will	AUX
cuesj-1036	26	5	have	have	VERB
cuesj-1036	26	6	two	two	NUM
cuesj-1036	26	7	different	different	ADJ
cuesj-1036	26	8	sorts	sort	NOUN
cuesj-1036	26	9	of	of	ADP
cuesj-1036	26	10	propellers	propeller	NOUN
cuesj-1036	26	11	,	,	PUNCT
cuesj-1036	26	12	one	one	NUM
cuesj-1036	26	13	that	that	PRON
cuesj-1036	26	14	rotates	rotate	VERB
cuesj-1036	26	15	in	in	ADP
cuesj-1036	26	16	the	the	DET
cuesj-1036	26	17	clockwise	clockwise	NOUN
cuesj-1036	26	18	direction	direction	NOUN
cuesj-1036	26	19	and	and	CCONJ
cuesj-1036	26	20	the	the	DET
cuesj-1036	26	21	other	other	ADJ
cuesj-1036	26	22	in	in	ADP
cuesj-1036	26	23	the	the	DET
cuesj-1036	26	24	anticlockwise	anticlockwise	NOUN
cuesj-1036	26	25	direction	direction	NOUN
cuesj-1036	26	26	.	.	PUNCT
cuesj-1036	27	1	this	this	PRON
cuesj-1036	27	2	is	be	AUX
cuesj-1036	27	3	due	due	ADJ
cuesj-1036	27	4	to	to	ADP
cuesj-1036	27	5	the	the	DET
cuesj-1036	27	6	fact	fact	NOUN
cuesj-1036	27	7	that	that	SCONJ
cuesj-1036	27	8	the	the	DET
cuesj-1036	27	9	drone	drone	NOUN
cuesj-1036	27	10	will	will	AUX
cuesj-1036	27	11	begin	begin	VERB
cuesj-1036	27	12	to	to	PART
cuesj-1036	27	13	rotate	rotate	VERB
cuesj-1036	27	14	if	if	SCONJ
cuesj-1036	27	15	all	all	PRON
cuesj-1036	27	16	of	of	ADP
cuesj-1036	27	17	the	the	DET
cuesj-1036	27	18	propellers	propeller	NOUN
cuesj-1036	27	19	are	be	AUX
cuesj-1036	27	20	spinning	spin	VERB
cuesj-1036	27	21	in	in	ADP
cuesj-1036	27	22	the	the	DET
cuesj-1036	27	23	same	same	ADJ
cuesj-1036	27	24	direction	direction	NOUN
cuesj-1036	27	25	.	.	PUNCT
cuesj-1036	28	1	the	the	DET
cuesj-1036	28	2	drone	drone	NOUN
cuesj-1036	28	3	does	do	AUX
cuesj-1036	28	4	not	not	PART
cuesj-1036	28	5	rotate	rotate	VERB
cuesj-1036	28	6	;	;	PUNCT
cuesj-1036	28	7	however	however	ADV
cuesj-1036	28	8	,	,	PUNCT
cuesj-1036	28	9	because	because	SCONJ
cuesj-1036	28	10	they	they	PRON
cuesj-1036	28	11	can	can	AUX
cuesj-1036	28	12	cancel	cancel	VERB
cuesj-1036	28	13	each	each	DET
cuesj-1036	28	14	other	other	ADJ
cuesj-1036	28	15	out	out	ADP
cuesj-1036	28	16	because	because	SCONJ
cuesj-1036	28	17	we	we	PRON
cuesj-1036	28	18	have	have	VERB
cuesj-1036	28	19	half	half	NOUN
cuesj-1036	28	20	of	of	ADP
cuesj-1036	28	21	them	they	PRON
cuesj-1036	28	22	rotating	rotate	VERB
cuesj-1036	28	23	in	in	ADP
cuesj-1036	28	24	one	one	NUM
cuesj-1036	28	25	direction	direction	NOUN
cuesj-1036	28	26	and	and	CCONJ
cuesj-1036	28	27	the	the	DET
cuesj-1036	28	28	other	other	ADJ
cuesj-1036	28	29	half	half	NOUN
cuesj-1036	28	30	rotating	rotate	VERB
cuesj-1036	28	31	in	in	ADP
cuesj-1036	28	32	the	the	DET
cuesj-1036	28	33	opposite	opposite	ADJ
cuesj-1036	28	34	direction	direction	NOUN
cuesj-1036	28	35	.	.	PUNCT
cuesj-1036	29	1	multiple	multiple	ADJ
cuesj-1036	29	2	blade	blade	NOUN
cuesj-1036	29	3	pairs	pair	NOUN
cuesj-1036	29	4	are	be	AUX
cuesj-1036	29	5	possible	possible	ADJ
cuesj-1036	29	6	for	for	ADP
cuesj-1036	29	7	propellers	propeller	NOUN
cuesj-1036	29	8	.	.	PUNCT
cuesj-1036	30	1	the	the	DET
cuesj-1036	30	2	thrust	thrust	NOUN
cuesj-1036	30	3	produced	produce	VERB
cuesj-1036	30	4	by	by	ADP
cuesj-1036	30	5	having	have	VERB
cuesj-1036	30	6	more	more	ADJ
cuesj-1036	30	7	blades	blade	NOUN
cuesj-1036	30	8	increases	increase	NOUN
cuesj-1036	30	9	,	,	PUNCT
cuesj-1036	30	10	but	but	CCONJ
cuesj-1036	30	11	their	their	PRON
cuesj-1036	30	12	efficiency	efficiency	NOUN
cuesj-1036	30	13	decreases.[4	decreases.[4	NOUN
cuesj-1036	30	14	]	]	PUNCT
cuesj-1036	30	15	the	the	DET
cuesj-1036	30	16	speed	speed	NOUN
cuesj-1036	30	17	of	of	ADP
cuesj-1036	30	18	the	the	DET
cuesj-1036	30	19	motors	motor	NOUN
cuesj-1036	30	20	is	be	AUX
cuesj-1036	30	21	managed	manage	VERB
cuesj-1036	30	22	by	by	ADP
cuesj-1036	30	23	the	the	DET
cuesj-1036	30	24	electric	electric	ADJ
cuesj-1036	30	25	motor	motor	PROPN
cuesj-1036	30	26	controller	controller	NOUN
cuesj-1036	30	27	.	.	PUNCT
cuesj-1036	31	1	they	they	PRON
cuesj-1036	31	2	transform	transform	VERB
cuesj-1036	31	3	the	the	DET
cuesj-1036	31	4	battery	battery	NOUN
cuesj-1036	31	5	’s	’s	PART
cuesj-1036	31	6	direct	direct	ADJ
cuesj-1036	31	7	current	current	ADJ
cuesj-1036	31	8	signal	signal	NOUN
cuesj-1036	31	9	corresponding	corresponding	ADJ
cuesj-1036	31	10	author	author	NOUN
cuesj-1036	31	11	:	:	PUNCT
cuesj-1036	31	12	shalaw	shalaw	NOUN
cuesj-1036	31	13	m.	m.	PROPN
cuesj-1036	31	14	abdallah	abdallah	PROPN
cuesj-1036	31	15	,	,	PUNCT
cuesj-1036	31	16	department	department	NOUN
cuesj-1036	31	17	of	of	ADP
cuesj-1036	31	18	software	software	PROPN
cuesj-1036	31	19	engineering	engineering	PROPN
cuesj-1036	31	20	,	,	PUNCT
cuesj-1036	31	21	koya	koya	PROPN
cuesj-1036	31	22	university	university	PROPN
cuesj-1036	31	23	,	,	PUNCT
cuesj-1036	31	24	kurdistan	kurdistan	PROPN
cuesj-1036	31	25	region	region	NOUN
cuesj-1036	31	26	,	,	PUNCT
cuesj-1036	31	27	iraq	iraq	PROPN
cuesj-1036	31	28	.	.	PUNCT
cuesj-1036	32	1	e	e	X
cuesj-1036	32	2	-	-	NOUN
cuesj-1036	32	3	mail	mail	NOUN
cuesj-1036	32	4	:	:	PUNCT
cuesj-1036	32	5	shalaw.mshir@gmail.com	shalaw.mshir@gmail.com	X
cuesj-1036	32	6	received	receive	VERB
cuesj-1036	32	7	:	:	PUNCT
cuesj-1036	32	8	october	october	PROPN
cuesj-1036	32	9	02	02	NUM
cuesj-1036	32	10	,	,	PUNCT
cuesj-1036	32	11	2023	2023	NUM
cuesj-1036	32	12	accepted	accept	VERB
cuesj-1036	32	13	:	:	PUNCT
cuesj-1036	32	14	november	november	PROPN
cuesj-1036	32	15	12	12	NUM
cuesj-1036	32	16	,	,	PUNCT
cuesj-1036	32	17	2023	2023	NUM
cuesj-1036	32	18	published	publish	VERB
cuesj-1036	32	19	:	:	PUNCT
cuesj-1036	32	20	december	december	PROPN
cuesj-1036	32	21	20	20	NUM
cuesj-1036	32	22	,	,	PUNCT
cuesj-1036	32	23	2023	2023	NUM
cuesj-1036	32	24	doi	doi	NOUN
cuesj-1036	32	25	:	:	PUNCT
cuesj-1036	32	26	10.24086	10.24086	NUM
cuesj-1036	32	27	/	/	SYM
cuesj-1036	32	28	cuesj.v7n2y2023.pp54	cuesj.v7n2y2023.pp54	NUM
cuesj-1036	32	29	-	-	SYM
cuesj-1036	32	30	59	59	NUM
cuesj-1036	32	31	copyright	copyright	NOUN
cuesj-1036	32	32	©	©	ADP
cuesj-1036	32	33	2023	2023	NUM
cuesj-1036	32	34	shalaw	shalaw	NOUN
cuesj-1036	32	35	m.	m.	NOUN
cuesj-1036	32	36	abdallah	abdallah	PROPN
cuesj-1036	32	37	.	.	PUNCT
cuesj-1036	33	1	this	this	PRON
cuesj-1036	33	2	is	be	AUX
cuesj-1036	33	3	an	an	DET
cuesj-1036	33	4	open	open	ADJ
cuesj-1036	33	5	-	-	PUNCT
cuesj-1036	33	6	access	access	NOUN
cuesj-1036	33	7	article	article	NOUN
cuesj-1036	33	8	distributed	distribute	VERB
cuesj-1036	33	9	under	under	ADP
cuesj-1036	33	10	the	the	DET
cuesj-1036	33	11	creative	creative	ADJ
cuesj-1036	33	12	commons	common	NOUN
cuesj-1036	33	13	attribution	attribution	NOUN
cuesj-1036	33	14	license	license	NOUN
cuesj-1036	33	15	.	.	PUNCT
cuesj-1036	34	1	cihan	cihan	VERB
cuesj-1036	34	2	university	university	NOUN
cuesj-1036	34	3	-	-	PUNCT
cuesj-1036	34	4	erbil	erbil	PROPN
cuesj-1036	34	5	scientific	scientific	ADJ
cuesj-1036	34	6	journal	journal	NOUN
cuesj-1036	34	7	(	(	PUNCT
cuesj-1036	34	8	cuesj	cuesj	PROPN
cuesj-1036	34	9	)	)	PUNCT
cuesj-1036	34	10	https://creativecommons.org/licenses/by-nc-nd/4.0/	https://creativecommons.org/licenses/by-nc-nd/4.0/	PROPN
cuesj-1036	34	11	abdallah	abdallah	PROPN
cuesj-1036	34	12	:	:	PUNCT
cuesj-1036	34	13	dji	dji	PROPN
cuesj-1036	34	14	tello	tello	PROPN
cuesj-1036	34	15	quad	quad	PROPN
cuesj-1036	34	16	:	:	PUNCT
cuesj-1036	34	17	face	face	NOUN
cuesj-1036	34	18	-	-	PUNCT
cuesj-1036	34	19	following	follow	VERB
cuesj-1036	34	20	system	system	NOUN
cuesj-1036	34	21	with	with	ADP
cuesj-1036	34	22	haar	haar	NOUN
cuesj-1036	34	23	cascade	cascade	NOUN
cuesj-1036	34	24	and	and	CCONJ
cuesj-1036	34	25	pid	pid	NOUN
cuesj-1036	34	26	control	control	NOUN
cuesj-1036	34	27	55	55	NUM
cuesj-1036	34	28	http://journals.cihanuniversity.edu.iq/index.php/cuesj	http://journals.cihanuniversity.edu.iq/index.php/cuesj	ADJ
cuesj-1036	34	29	cuesj	cuesj	NOUN
cuesj-1036	34	30	2023	2023	NUM
cuesj-1036	34	31	,	,	PUNCT
cuesj-1036	34	32	7	7	NUM
cuesj-1036	34	33	(	(	PUNCT
cuesj-1036	34	34	2	2	NUM
cuesj-1036	34	35	):	):	PUNCT
cuesj-1036	34	36	54	54	NUM
cuesj-1036	34	37	-	-	SYM
cuesj-1036	34	38	59	59	NUM
cuesj-1036	34	39	into	into	ADP
cuesj-1036	34	40	an	an	DET
cuesj-1036	34	41	alternating	alternate	VERB
cuesj-1036	34	42	current	current	ADJ
cuesj-1036	34	43	signal	signal	NOUN
cuesj-1036	34	44	for	for	ADP
cuesj-1036	34	45	the	the	DET
cuesj-1036	34	46	motor	motor	NOUN
cuesj-1036	34	47	.	.	PUNCT
cuesj-1036	35	1	a	a	DET
cuesj-1036	35	2	drone	drone	NOUN
cuesj-1036	35	3	has	have	VERB
cuesj-1036	35	4	several	several	ADJ
cuesj-1036	35	5	sensors	sensor	NOUN
cuesj-1036	35	6	attached	attach	VERB
cuesj-1036	35	7	to	to	ADP
cuesj-1036	35	8	it	it	PRON
cuesj-1036	35	9	.	.	PUNCT
cuesj-1036	36	1	for	for	ADP
cuesj-1036	36	2	instance	instance	NOUN
cuesj-1036	36	3	,	,	PUNCT
cuesj-1036	36	4	the	the	DET
cuesj-1036	36	5	pressure	pressure	NOUN
cuesj-1036	36	6	sensor	sensor	NOUN
cuesj-1036	36	7	calculates	calculate	VERB
cuesj-1036	36	8	the	the	DET
cuesj-1036	36	9	drone	drone	NOUN
cuesj-1036	36	10	’s	’s	PART
cuesj-1036	36	11	altitude	altitude	NOUN
cuesj-1036	36	12	or	or	CCONJ
cuesj-1036	36	13	its	its	PRON
cuesj-1036	36	14	distance	distance	NOUN
cuesj-1036	36	15	from	from	ADP
cuesj-1036	36	16	the	the	DET
cuesj-1036	36	17	ground	ground	NOUN
cuesj-1036	36	18	.	.	PUNCT
cuesj-1036	37	1	the	the	DET
cuesj-1036	37	2	drones	drone	NOUN
cuesj-1036	37	3	are	be	AUX
cuesj-1036	37	4	using	use	VERB
cuesj-1036	37	5	the	the	DET
cuesj-1036	37	6	global	global	ADJ
cuesj-1036	37	7	positioning	positioning	NOUN
cuesj-1036	37	8	system	system	NOUN
cuesj-1036	37	9	(	(	PUNCT
cuesj-1036	37	10	gps	gps	PROPN
cuesj-1036	37	11	)	)	PUNCT
cuesj-1036	37	12	and	and	CCONJ
cuesj-1036	37	13	an	an	DET
cuesj-1036	37	14	inertial	inertial	ADJ
cuesj-1036	37	15	measurement	measurement	NOUN
cuesj-1036	37	16	unit	unit	NOUN
cuesj-1036	37	17	(	(	PUNCT
cuesj-1036	37	18	imu	imu	NOUN
cuesj-1036	37	19	)	)	PUNCT
cuesj-1036	37	20	.	.	PUNCT
cuesj-1036	38	1	the	the	DET
cuesj-1036	38	2	imu	imu	NOUN
cuesj-1036	38	3	is	be	AUX
cuesj-1036	38	4	an	an	DET
cuesj-1036	38	5	electrical	electrical	ADJ
cuesj-1036	38	6	instrument	instrument	NOUN
cuesj-1036	38	7	that	that	PRON
cuesj-1036	38	8	can	can	AUX
cuesj-1036	38	9	be	be	AUX
cuesj-1036	38	10	used	use	VERB
cuesj-1036	38	11	to	to	PART
cuesj-1036	38	12	detect	detect	VERB
cuesj-1036	38	13	acceleration	acceleration	NOUN
cuesj-1036	38	14	and	and	CCONJ
cuesj-1036	38	15	angular	angular	ADJ
cuesj-1036	38	16	motion	motion	NOUN
cuesj-1036	38	17	.	.	PUNCT
cuesj-1036	39	1	it	it	PRON
cuesj-1036	39	2	integrates	integrate	VERB
cuesj-1036	39	3	the	the	DET
cuesj-1036	39	4	sensors	sensor	NOUN
cuesj-1036	39	5	from	from	ADP
cuesj-1036	39	6	gyroscopes	gyroscope	NOUN
cuesj-1036	39	7	,	,	PUNCT
cuesj-1036	39	8	magnetometers	magnetometer	NOUN
cuesj-1036	39	9	,	,	PUNCT
cuesj-1036	39	10	and	and	CCONJ
cuesj-1036	39	11	accelerometers	accelerometer	NOUN
cuesj-1036	39	12	into	into	ADP
cuesj-1036	39	13	a	a	DET
cuesj-1036	39	14	single	single	ADJ
cuesj-1036	39	15	sensor	sensor	NOUN
cuesj-1036	39	16	.	.	PUNCT
cuesj-1036	40	1	with	with	ADP
cuesj-1036	40	2	the	the	DET
cuesj-1036	40	3	aid	aid	NOUN
cuesj-1036	40	4	of	of	ADP
cuesj-1036	40	5	a	a	DET
cuesj-1036	40	6	time	time	NOUN
cuesj-1036	40	7	derivative	derivative	NOUN
cuesj-1036	40	8	,	,	PUNCT
cuesj-1036	40	9	the	the	DET
cuesj-1036	40	10	accelerometer	accelerometer	NOUN
cuesj-1036	40	11	can	can	AUX
cuesj-1036	40	12	also	also	ADV
cuesj-1036	40	13	be	be	AUX
cuesj-1036	40	14	utilized	utilize	VERB
cuesj-1036	40	15	to	to	PART
cuesj-1036	40	16	calculate	calculate	VERB
cuesj-1036	40	17	metrics	metric	NOUN
cuesj-1036	40	18	like	like	ADP
cuesj-1036	40	19	velocity	velocity	NOUN
cuesj-1036	40	20	and	and	CCONJ
cuesj-1036	40	21	distance	distance	NOUN
cuesj-1036	40	22	.	.	PUNCT
cuesj-1036	41	1	signals	signal	NOUN
cuesj-1036	41	2	are	be	AUX
cuesj-1036	41	3	received	receive	VERB
cuesj-1036	41	4	using	use	VERB
cuesj-1036	41	5	a	a	DET
cuesj-1036	41	6	gps	gps	NOUN
cuesj-1036	41	7	module	module	NOUN
cuesj-1036	41	8	.	.	PUNCT
cuesj-1036	42	1	radio	radio	NOUN
cuesj-1036	42	2	receivers	receiver	NOUN
cuesj-1036	42	3	in	in	ADP
cuesj-1036	42	4	the	the	DET
cuesj-1036	42	5	gps	gps	PROPN
cuesj-1036	42	6	module	module	NOUN
cuesj-1036	42	7	receive	receive	VERB
cuesj-1036	42	8	signals	signal	NOUN
cuesj-1036	42	9	from	from	ADP
cuesj-1036	42	10	a	a	DET
cuesj-1036	42	11	global	global	ADJ
cuesj-1036	42	12	network	network	NOUN
cuesj-1036	42	13	of	of	ADP
cuesj-1036	42	14	orbiting	orbit	VERB
cuesj-1036	42	15	satellites	satellite	NOUN
cuesj-1036	42	16	.	.	PUNCT
cuesj-1036	43	1	the	the	DET
cuesj-1036	43	2	module	module	NOUN
cuesj-1036	43	3	can	can	AUX
cuesj-1036	43	4	calculate	calculate	VERB
cuesj-1036	43	5	its	its	PRON
cuesj-1036	43	6	position	position	NOUN
cuesj-1036	43	7	,	,	PUNCT
cuesj-1036	43	8	velocity	velocity	NOUN
cuesj-1036	43	9	,	,	PUNCT
cuesj-1036	43	10	and	and	CCONJ
cuesj-1036	43	11	time	time	NOUN
cuesj-1036	43	12	thanks	thank	NOUN
cuesj-1036	43	13	to	to	ADP
cuesj-1036	43	14	these	these	DET
cuesj-1036	43	15	messages	message	NOUN
cuesj-1036	43	16	.	.	PUNCT
cuesj-1036	44	1	access	access	NOUN
cuesj-1036	44	2	to	to	ADP
cuesj-1036	44	3	more	more	ADJ
cuesj-1036	44	4	signals	signal	NOUN
cuesj-1036	44	5	and	and	CCONJ
cuesj-1036	44	6	systems	system	NOUN
cuesj-1036	44	7	improves	improve	VERB
cuesj-1036	44	8	location	location	NOUN
cuesj-1036	44	9	accuracy	accuracy	NOUN
cuesj-1036	44	10	,	,	PUNCT
cuesj-1036	44	11	which	which	PRON
cuesj-1036	44	12	benefits	benefit	VERB
cuesj-1036	44	13	all	all	PRON
cuesj-1036	44	14	of	of	ADP
cuesj-1036	44	15	the	the	DET
cuesj-1036	44	16	drone	drone	NOUN
cuesj-1036	44	17	’s	’s	PART
cuesj-1036	44	18	gps	gps	PROPN
cuesj-1036	44	19	-	-	PUNCT
cuesj-1036	44	20	related	relate	VERB
cuesj-1036	44	21	operations.[5,6	operations.[5,6	NOUN
cuesj-1036	44	22	]	]	PUNCT
cuesj-1036	44	23	in	in	ADP
cuesj-1036	44	24	spite	spite	NOUN
cuesj-1036	44	25	of	of	ADP
cuesj-1036	44	26	the	the	DET
cuesj-1036	44	27	fact	fact	NOUN
cuesj-1036	44	28	that	that	SCONJ
cuesj-1036	44	29	a	a	DET
cuesj-1036	44	30	drone	drone	NOUN
cuesj-1036	44	31	contains	contain	VERB
cuesj-1036	44	32	four	four	NUM
cuesj-1036	44	33	or	or	CCONJ
cuesj-1036	44	34	more	more	ADJ
cuesj-1036	44	35	motors	motor	NOUN
cuesj-1036	44	36	to	to	PART
cuesj-1036	44	37	accomplish	accomplish	VERB
cuesj-1036	44	38	all	all	DET
cuesj-1036	44	39	movements	movement	NOUN
cuesj-1036	44	40	,	,	PUNCT
cuesj-1036	44	41	moving	move	VERB
cuesj-1036	44	42	one	one	NUM
cuesj-1036	44	43	is	be	AUX
cuesj-1036	44	44	actually	actually	ADV
cuesj-1036	44	45	pretty	pretty	ADV
cuesj-1036	44	46	easy	easy	ADJ
cuesj-1036	44	47	and	and	CCONJ
cuesj-1036	44	48	intuitive	intuitive	ADJ
cuesj-1036	44	49	.	.	PUNCT
cuesj-1036	45	1	the	the	DET
cuesj-1036	45	2	drone	drone	NOUN
cuesj-1036	45	3	can	can	AUX
cuesj-1036	45	4	spin	spin	VERB
cuesj-1036	45	5	in	in	ADP
cuesj-1036	45	6	one	one	NUM
cuesj-1036	45	7	direction	direction	NOUN
cuesj-1036	45	8	and	and	CCONJ
cuesj-1036	45	9	translate	translate	VERB
cuesj-1036	45	10	in	in	ADP
cuesj-1036	45	11	three	three	NUM
cuesj-1036	45	12	other	other	ADJ
cuesj-1036	45	13	directions	direction	NOUN
cuesj-1036	45	14	thanks	thank	NOUN
cuesj-1036	45	15	to	to	ADP
cuesj-1036	45	16	its	its	PRON
cuesj-1036	45	17	4	4	NUM
cuesj-1036	45	18	°	°	NOUN
cuesj-1036	45	19	of	of	ADP
cuesj-1036	45	20	freedom	freedom	NOUN
cuesj-1036	45	21	of	of	ADP
cuesj-1036	45	22	motion	motion	NOUN
cuesj-1036	45	23	.	.	PUNCT
cuesj-1036	46	1	a	a	DET
cuesj-1036	46	2	quadcopter	quadcopter	NOUN
cuesj-1036	46	3	has	have	VERB
cuesj-1036	46	4	four	four	NUM
cuesj-1036	46	5	propellers	propeller	NOUN
cuesj-1036	46	6	,	,	PUNCT
cuesj-1036	46	7	four	four	NUM
cuesj-1036	46	8	of	of	ADP
cuesj-1036	46	9	which	which	PRON
cuesj-1036	46	10	revolve	revolve	NOUN
cuesj-1036	46	11	clockwise	clockwise	NOUN
cuesj-1036	46	12	and	and	CCONJ
cuesj-1036	46	13	two	two	NUM
cuesj-1036	46	14	of	of	ADP
cuesj-1036	46	15	which	which	PRON
cuesj-1036	46	16	rotate	rotate	VERB
cuesj-1036	46	17	counterclockwise	counterclockwise	NOUN
cuesj-1036	46	18	,	,	PUNCT
cuesj-1036	46	19	as	as	SCONJ
cuesj-1036	46	20	was	be	AUX
cuesj-1036	46	21	previously	previously	ADV
cuesj-1036	46	22	described	describe	VERB
cuesj-1036	46	23	.	.	PUNCT
cuesj-1036	47	1	by	by	ADP
cuesj-1036	47	2	creating	create	VERB
cuesj-1036	47	3	a	a	DET
cuesj-1036	47	4	zero	zero	NUM
cuesj-1036	47	5	angular	angular	ADJ
cuesj-1036	47	6	momentum	momentum	NOUN
cuesj-1036	47	7	as	as	ADP
cuesj-1036	47	8	a	a	DET
cuesj-1036	47	9	result	result	NOUN
cuesj-1036	47	10	,	,	PUNCT
cuesj-1036	47	11	the	the	DET
cuesj-1036	47	12	drone	drone	NOUN
cuesj-1036	47	13	can	can	AUX
cuesj-1036	47	14	remain	remain	VERB
cuesj-1036	47	15	still	still	ADV
cuesj-1036	47	16	rather	rather	ADV
cuesj-1036	47	17	than	than	ADP
cuesj-1036	47	18	rotating	rotate	VERB
cuesj-1036	47	19	in	in	ADP
cuesj-1036	47	20	one	one	NUM
cuesj-1036	47	21	direction.[7	direction.[7	NOUN
cuesj-1036	47	22	]	]	PUNCT
cuesj-1036	47	23	lets	lets	AUX
cuesj-1036	47	24	have	have	VERB
cuesj-1036	47	25	a	a	DET
cuesj-1036	47	26	look	look	NOUN
cuesj-1036	47	27	at	at	ADP
cuesj-1036	47	28	the	the	DET
cuesj-1036	47	29	translation	translation	NOUN
cuesj-1036	47	30	movements	movement	NOUN
cuesj-1036	47	31	.	.	PUNCT
cuesj-1036	48	1	first	first	ADV
cuesj-1036	48	2	,	,	PUNCT
cuesj-1036	48	3	the	the	DET
cuesj-1036	48	4	system	system	NOUN
cuesj-1036	48	5	will	will	AUX
cuesj-1036	48	6	run	run	VERB
cuesj-1036	48	7	all	all	DET
cuesj-1036	48	8	the	the	DET
cuesj-1036	48	9	motors	motor	NOUN
cuesj-1036	48	10	at	at	ADP
cuesj-1036	48	11	the	the	DET
cuesj-1036	48	12	same	same	ADJ
cuesj-1036	48	13	speed	speed	NOUN
cuesj-1036	48	14	.	.	PUNCT
cuesj-1036	49	1	that	that	PRON
cuesj-1036	49	2	will	will	AUX
cuesj-1036	49	3	generate	generate	VERB
cuesj-1036	49	4	the	the	DET
cuesj-1036	49	5	lift	lift	NOUN
cuesj-1036	49	6	greater	great	ADJ
cuesj-1036	49	7	than	than	ADP
cuesj-1036	49	8	the	the	DET
cuesj-1036	49	9	weight	weight	NOUN
cuesj-1036	49	10	of	of	ADP
cuesj-1036	49	11	the	the	DET
cuesj-1036	49	12	drone	drone	NOUN
cuesj-1036	49	13	.	.	PUNCT
cuesj-1036	50	1	the	the	DET
cuesj-1036	50	2	drone	drone	NOUN
cuesj-1036	50	3	will	will	AUX
cuesj-1036	50	4	rise	rise	VERB
cuesj-1036	50	5	as	as	ADP
cuesj-1036	50	6	a	a	DET
cuesj-1036	50	7	result	result	NOUN
cuesj-1036	50	8	of	of	ADP
cuesj-1036	50	9	this	this	PRON
cuesj-1036	50	10	.	.	PUNCT
cuesj-1036	51	1	the	the	DET
cuesj-1036	51	2	initial	initial	ADJ
cuesj-1036	51	3	translational	translational	ADJ
cuesj-1036	51	4	movement	movement	NOUN
cuesj-1036	51	5	is	be	AUX
cuesj-1036	51	6	this	this	PRON
cuesj-1036	51	7	:	:	PUNCT
cuesj-1036	51	8	if	if	SCONJ
cuesj-1036	51	9	the	the	DET
cuesj-1036	51	10	proposed	propose	VERB
cuesj-1036	51	11	system	system	NOUN
cuesj-1036	51	12	wants	want	VERB
cuesj-1036	51	13	to	to	PART
cuesj-1036	51	14	descend	descend	VERB
cuesj-1036	51	15	,	,	PUNCT
cuesj-1036	51	16	it	it	PRON
cuesj-1036	51	17	will	will	AUX
cuesj-1036	51	18	slow	slow	VERB
cuesj-1036	51	19	down	down	ADP
cuesj-1036	51	20	each	each	DET
cuesj-1036	51	21	motor	motor	NOUN
cuesj-1036	51	22	so	so	SCONJ
cuesj-1036	51	23	that	that	SCONJ
cuesj-1036	51	24	the	the	DET
cuesj-1036	51	25	lift	lift	NOUN
cuesj-1036	51	26	is	be	AUX
cuesj-1036	51	27	less	less	ADJ
cuesj-1036	51	28	than	than	ADP
cuesj-1036	51	29	the	the	DET
cuesj-1036	51	30	drone	drone	NOUN
cuesj-1036	51	31	’s	’s	PART
cuesj-1036	51	32	weight	weight	NOUN
cuesj-1036	51	33	.	.	PUNCT
cuesj-1036	52	1	the	the	DET
cuesj-1036	52	2	proposed	propose	VERB
cuesj-1036	52	3	system	system	NOUN
cuesj-1036	52	4	will	will	AUX
cuesj-1036	52	5	adjust	adjust	VERB
cuesj-1036	52	6	the	the	DET
cuesj-1036	52	7	motor	motor	NOUN
cuesj-1036	52	8	’s	’s	PART
cuesj-1036	52	9	speed	speed	NOUN
cuesj-1036	52	10	if	if	SCONJ
cuesj-1036	52	11	it	it	PRON
cuesj-1036	52	12	wants	want	VERB
cuesj-1036	52	13	to	to	PART
cuesj-1036	52	14	hover	hover	VERB
cuesj-1036	52	15	in	in	ADP
cuesj-1036	52	16	the	the	DET
cuesj-1036	52	17	air	air	NOUN
cuesj-1036	52	18	so	so	SCONJ
cuesj-1036	52	19	that	that	SCONJ
cuesj-1036	52	20	the	the	DET
cuesj-1036	52	21	lift	lift	NOUN
cuesj-1036	52	22	is	be	AUX
cuesj-1036	52	23	equivalent	equivalent	ADJ
cuesj-1036	52	24	to	to	ADP
cuesj-1036	52	25	the	the	DET
cuesj-1036	52	26	drone	drone	NOUN
cuesj-1036	52	27	’s	’s	PART
cuesj-1036	52	28	weight	weight	NOUN
cuesj-1036	52	29	.	.	PUNCT
cuesj-1036	53	1	the	the	DET
cuesj-1036	53	2	drone	drone	NOUN
cuesj-1036	53	3	will	will	AUX
cuesj-1036	53	4	be	be	AUX
cuesj-1036	53	5	able	able	ADJ
cuesj-1036	53	6	to	to	PART
cuesj-1036	53	7	hover	hover	VERB
cuesj-1036	53	8	over	over	ADP
cuesj-1036	53	9	the	the	DET
cuesj-1036	53	10	ground	ground	NOUN
cuesj-1036	53	11	as	as	ADP
cuesj-1036	53	12	a	a	DET
cuesj-1036	53	13	result	result	NOUN
cuesj-1036	53	14	.	.	PUNCT
cuesj-1036	54	1	moving	move	VERB
cuesj-1036	54	2	on	on	ADP
cuesj-1036	54	3	to	to	ADP
cuesj-1036	54	4	the	the	DET
cuesj-1036	54	5	second	second	ADJ
cuesj-1036	54	6	translation	translation	NOUN
cuesj-1036	54	7	,	,	PUNCT
cuesj-1036	54	8	the	the	DET
cuesj-1036	54	9	system	system	NOUN
cuesj-1036	54	10	will	will	AUX
cuesj-1036	54	11	slow	slow	VERB
cuesj-1036	54	12	down	down	ADP
cuesj-1036	54	13	the	the	DET
cuesj-1036	54	14	left	left	ADJ
cuesj-1036	54	15	motors	motor	NOUN
cuesj-1036	54	16	and	and	CCONJ
cuesj-1036	54	17	speed	speed	VERB
cuesj-1036	54	18	up	up	ADP
cuesj-1036	54	19	the	the	DET
cuesj-1036	54	20	right	right	ADJ
cuesj-1036	54	21	motors	motor	NOUN
cuesj-1036	54	22	if	if	SCONJ
cuesj-1036	54	23	it	it	PRON
cuesj-1036	54	24	wishes	wish	VERB
cuesj-1036	54	25	to	to	PART
cuesj-1036	54	26	move	move	VERB
cuesj-1036	54	27	to	to	ADP
cuesj-1036	54	28	the	the	DET
cuesj-1036	54	29	left	left	NOUN
cuesj-1036	54	30	.	.	PUNCT
cuesj-1036	55	1	the	the	DET
cuesj-1036	55	2	system	system	NOUN
cuesj-1036	55	3	shall	shall	AUX
cuesj-1036	55	4	raise	raise	VERB
cuesj-1036	55	5	the	the	DET
cuesj-1036	55	6	speed	speed	NOUN
cuesj-1036	55	7	of	of	ADP
cuesj-1036	55	8	the	the	DET
cuesj-1036	55	9	left	left	ADJ
cuesj-1036	55	10	motors	motor	NOUN
cuesj-1036	55	11	while	while	SCONJ
cuesj-1036	55	12	decreasing	decrease	VERB
cuesj-1036	55	13	the	the	DET
cuesj-1036	55	14	speed	speed	NOUN
cuesj-1036	55	15	of	of	ADP
cuesj-1036	55	16	the	the	DET
cuesj-1036	55	17	right	right	PROPN
cuesj-1036	55	18	motors	motor	NOUN
cuesj-1036	55	19	to	to	PART
cuesj-1036	55	20	move	move	VERB
cuesj-1036	55	21	to	to	ADP
cuesj-1036	55	22	the	the	DET
cuesj-1036	55	23	right	right	NOUN
cuesj-1036	55	24	.	.	PUNCT
cuesj-1036	56	1	similar	similar	ADJ
cuesj-1036	56	2	translations	translation	NOUN
cuesj-1036	56	3	are	be	AUX
cuesj-1036	56	4	possible	possible	ADJ
cuesj-1036	56	5	in	in	ADP
cuesj-1036	56	6	the	the	DET
cuesj-1036	56	7	third	third	ADJ
cuesj-1036	56	8	direction	direction	NOUN
cuesj-1036	56	9	,	,	PUNCT
cuesj-1036	56	10	which	which	PRON
cuesj-1036	56	11	is	be	AUX
cuesj-1036	56	12	forward	forward	ADJ
cuesj-1036	56	13	and	and	CCONJ
cuesj-1036	56	14	backward	backward	ADJ
cuesj-1036	56	15	motion	motion	NOUN
cuesj-1036	56	16	.	.	PUNCT
cuesj-1036	57	1	the	the	DET
cuesj-1036	57	2	drone	drone	NOUN
cuesj-1036	57	3	will	will	AUX
cuesj-1036	57	4	advance	advance	VERB
cuesj-1036	57	5	by	by	ADP
cuesj-1036	57	6	reducing	reduce	VERB
cuesj-1036	57	7	the	the	DET
cuesj-1036	57	8	front	front	ADJ
cuesj-1036	57	9	motors	motor	NOUN
cuesj-1036	57	10	’	'	PUNCT
cuesj-1036	57	11	speed	speed	NOUN
cuesj-1036	57	12	and	and	CCONJ
cuesj-1036	57	13	increasing	increase	VERB
cuesj-1036	57	14	the	the	DET
cuesj-1036	57	15	back	back	ADJ
cuesj-1036	57	16	motors	motor	NOUN
cuesj-1036	57	17	’	'	PUNCT
cuesj-1036	57	18	speed	speed	NOUN
cuesj-1036	57	19	.	.	PUNCT
cuesj-1036	58	1	the	the	DET
cuesj-1036	58	2	system	system	NOUN
cuesj-1036	58	3	can	can	AUX
cuesj-1036	58	4	change	change	VERB
cuesj-1036	58	5	the	the	DET
cuesj-1036	58	6	speed	speed	NOUN
cuesj-1036	58	7	of	of	ADP
cuesj-1036	58	8	the	the	DET
cuesj-1036	58	9	front	front	ADJ
cuesj-1036	58	10	motors	motor	NOUN
cuesj-1036	58	11	while	while	SCONJ
cuesj-1036	58	12	reducing	reduce	VERB
cuesj-1036	58	13	the	the	DET
cuesj-1036	58	14	speed	speed	NOUN
cuesj-1036	58	15	of	of	ADP
cuesj-1036	58	16	the	the	DET
cuesj-1036	58	17	back	back	ADJ
cuesj-1036	58	18	motors	motor	NOUN
cuesj-1036	58	19	to	to	PART
cuesj-1036	58	20	move	move	VERB
cuesj-1036	58	21	backward	backward	ADV
cuesj-1036	58	22	.	.	PUNCT
cuesj-1036	59	1	the	the	DET
cuesj-1036	59	2	system	system	NOUN
cuesj-1036	59	3	can	can	AUX
cuesj-1036	59	4	utilize	utilize	VERB
cuesj-1036	59	5	this	this	DET
cuesj-1036	59	6	knowledge	knowledge	NOUN
cuesj-1036	59	7	to	to	PART
cuesj-1036	59	8	rotate	rotate	VERB
cuesj-1036	59	9	our	our	PRON
cuesj-1036	59	10	drone	drone	NOUN
cuesj-1036	59	11	because	because	SCONJ
cuesj-1036	59	12	two	two	NUM
cuesj-1036	59	13	motors	motor	NOUN
cuesj-1036	59	14	rotate	rotate	VERB
cuesj-1036	59	15	clockwise	clockwise	NOUN
cuesj-1036	59	16	and	and	CCONJ
cuesj-1036	59	17	the	the	DET
cuesj-1036	59	18	other	other	ADJ
cuesj-1036	59	19	two	two	NUM
cuesj-1036	59	20	rotate	rotate	NOUN
cuesj-1036	59	21	anticlockwise	anticlockwise	NOUN
cuesj-1036	59	22	.	.	PUNCT
cuesj-1036	60	1	the	the	DET
cuesj-1036	60	2	system	system	NOUN
cuesj-1036	60	3	will	will	AUX
cuesj-1036	60	4	make	make	VERB
cuesj-1036	60	5	the	the	DET
cuesj-1036	60	6	motors	motor	NOUN
cuesj-1036	60	7	moving	move	VERB
cuesj-1036	60	8	anticlockwise	anticlockwise	NOUN
cuesj-1036	60	9	faster	fast	ADV
cuesj-1036	60	10	and	and	CCONJ
cuesj-1036	60	11	the	the	DET
cuesj-1036	60	12	motors	motor	NOUN
cuesj-1036	60	13	moving	move	VERB
cuesj-1036	60	14	clockwise	clockwise	NOUN
cuesj-1036	60	15	slower	slow	ADV
cuesj-1036	60	16	to	to	PART
cuesj-1036	60	17	rotate	rotate	VERB
cuesj-1036	60	18	the	the	DET
cuesj-1036	60	19	drone	drone	NOUN
cuesj-1036	60	20	clockwise	clockwise	NOUN
cuesj-1036	60	21	.	.	PUNCT
cuesj-1036	61	1	the	the	DET
cuesj-1036	61	2	clockwise	clockwise	NOUN
cuesj-1036	61	3	motors	motor	NOUN
cuesj-1036	61	4	’	'	PUNCT
cuesj-1036	61	5	speed	speed	NOUN
cuesj-1036	61	6	will	will	AUX
cuesj-1036	61	7	increase	increase	VERB
cuesj-1036	61	8	,	,	PUNCT
cuesj-1036	61	9	and	and	CCONJ
cuesj-1036	61	10	the	the	DET
cuesj-1036	61	11	anticlockwise	anticlockwise	PROPN
cuesj-1036	61	12	motors	motors	PROPN
cuesj-1036	61	13	’	'	PUNCT
cuesj-1036	61	14	speed	speed	NOUN
cuesj-1036	61	15	will	will	AUX
cuesj-1036	61	16	decrease	decrease	VERB
cuesj-1036	61	17	if	if	SCONJ
cuesj-1036	61	18	the	the	DET
cuesj-1036	61	19	system	system	NOUN
cuesj-1036	61	20	wants	want	VERB
cuesj-1036	61	21	to	to	PART
cuesj-1036	61	22	rotate	rotate	VERB
cuesj-1036	61	23	in	in	ADP
cuesj-1036	61	24	the	the	DET
cuesj-1036	61	25	other	other	ADJ
cuesj-1036	61	26	direction.[8	direction.[8	NOUN
cuesj-1036	61	27	]	]	PUNCT
cuesj-1036	61	28	in	in	ADP
cuesj-1036	61	29	addition	addition	NOUN
cuesj-1036	61	30	,	,	PUNCT
cuesj-1036	61	31	this	this	DET
cuesj-1036	61	32	research	research	NOUN
cuesj-1036	61	33	proposal	proposal	NOUN
cuesj-1036	61	34	will	will	AUX
cuesj-1036	61	35	help	help	VERB
cuesj-1036	61	36	photographers	photographer	NOUN
cuesj-1036	61	37	and	and	CCONJ
cuesj-1036	61	38	journalists	journalist	NOUN
cuesj-1036	61	39	prepare	prepare	VERB
cuesj-1036	61	40	their	their	PRON
cuesj-1036	61	41	works	work	NOUN
cuesj-1036	61	42	in	in	ADP
cuesj-1036	61	43	a	a	DET
cuesj-1036	61	44	good	good	ADJ
cuesj-1036	61	45	way	way	NOUN
cuesj-1036	61	46	.	.	PUNCT
cuesj-1036	62	1	the	the	DET
cuesj-1036	62	2	system	system	NOUN
cuesj-1036	62	3	will	will	AUX
cuesj-1036	62	4	let	let	VERB
cuesj-1036	62	5	the	the	DET
cuesj-1036	62	6	drone	drone	NOUN
cuesj-1036	62	7	follow	follow	VERB
cuesj-1036	62	8	the	the	DET
cuesj-1036	62	9	face	face	NOUN
cuesj-1036	62	10	of	of	ADP
cuesj-1036	62	11	the	the	DET
cuesj-1036	62	12	person	person	NOUN
cuesj-1036	62	13	to	to	PART
cuesj-1036	62	14	record	record	VERB
cuesj-1036	62	15	or	or	CCONJ
cuesj-1036	62	16	take	take	VERB
cuesj-1036	62	17	images	image	NOUN
cuesj-1036	62	18	.	.	PUNCT
cuesj-1036	63	1	we	we	PRON
cuesj-1036	63	2	chose	choose	VERB
cuesj-1036	63	3	the	the	DET
cuesj-1036	63	4	face	face	NOUN
cuesj-1036	63	5	because	because	SCONJ
cuesj-1036	63	6	the	the	DET
cuesj-1036	63	7	face	face	NOUN
cuesj-1036	63	8	is	be	AUX
cuesj-1036	63	9	the	the	DET
cuesj-1036	63	10	most	most	ADV
cuesj-1036	63	11	important	important	ADJ
cuesj-1036	63	12	part	part	NOUN
cuesj-1036	63	13	of	of	ADP
cuesj-1036	63	14	the	the	DET
cuesj-1036	63	15	body	body	NOUN
cuesj-1036	63	16	.	.	PUNCT
cuesj-1036	64	1	by	by	ADP
cuesj-1036	64	2	focusing	focus	VERB
cuesj-1036	64	3	on	on	ADP
cuesj-1036	64	4	the	the	DET
cuesj-1036	64	5	face	face	NOUN
cuesj-1036	64	6	,	,	PUNCT
cuesj-1036	64	7	photographers	photographer	NOUN
cuesj-1036	64	8	and	and	CCONJ
cuesj-1036	64	9	journalists	journalist	NOUN
cuesj-1036	64	10	can	can	AUX
cuesj-1036	64	11	capture	capture	VERB
cuesj-1036	64	12	the	the	DET
cuesj-1036	64	13	emotions	emotion	NOUN
cuesj-1036	64	14	and	and	CCONJ
cuesj-1036	64	15	expressions	expression	NOUN
cuesj-1036	64	16	that	that	PRON
cuesj-1036	64	17	convey	convey	VERB
cuesj-1036	64	18	powerful	powerful	ADJ
cuesj-1036	64	19	storytelling	storytelling	NOUN
cuesj-1036	64	20	elements	element	NOUN
cuesj-1036	64	21	.	.	PUNCT
cuesj-1036	65	1	this	this	DET
cuesj-1036	65	2	innovative	innovative	ADJ
cuesj-1036	65	3	feature	feature	NOUN
cuesj-1036	65	4	will	will	AUX
cuesj-1036	65	5	enable	enable	VERB
cuesj-1036	65	6	them	they	PRON
cuesj-1036	65	7	to	to	PART
cuesj-1036	65	8	create	create	VERB
cuesj-1036	65	9	visually	visually	ADV
cuesj-1036	65	10	compelling	compelling	ADJ
cuesj-1036	65	11	content	content	NOUN
cuesj-1036	65	12	that	that	PRON
cuesj-1036	65	13	resonates	resonate	VERB
cuesj-1036	65	14	with	with	ADP
cuesj-1036	65	15	their	their	PRON
cuesj-1036	65	16	audience	audience	NOUN
cuesj-1036	65	17	on	on	ADP
cuesj-1036	65	18	a	a	DET
cuesj-1036	65	19	deeper	deep	ADJ
cuesj-1036	65	20	level	level	NOUN
cuesj-1036	65	21	.	.	PUNCT
cuesj-1036	66	1	furthermore	furthermore	ADV
cuesj-1036	66	2	,	,	PUNCT
cuesj-1036	66	3	by	by	ADP
cuesj-1036	66	4	automating	automate	VERB
cuesj-1036	66	5	the	the	DET
cuesj-1036	66	6	tracking	tracking	NOUN
cuesj-1036	66	7	process	process	NOUN
cuesj-1036	66	8	,	,	PUNCT
cuesj-1036	66	9	the	the	DET
cuesj-1036	66	10	system	system	NOUN
cuesj-1036	66	11	will	will	AUX
cuesj-1036	66	12	provide	provide	VERB
cuesj-1036	66	13	photographers	photographer	NOUN
cuesj-1036	66	14	and	and	CCONJ
cuesj-1036	66	15	journalists	journalist	NOUN
cuesj-1036	66	16	with	with	ADP
cuesj-1036	66	17	more	more	ADJ
cuesj-1036	66	18	freedom	freedom	NOUN
cuesj-1036	66	19	to	to	PART
cuesj-1036	66	20	concentrate	concentrate	VERB
cuesj-1036	66	21	on	on	ADP
cuesj-1036	66	22	framing	frame	VERB
cuesj-1036	66	23	their	their	PRON
cuesj-1036	66	24	shots	shot	NOUN
cuesj-1036	66	25	and	and	CCONJ
cuesj-1036	66	26	capturing	capture	VERB
cuesj-1036	66	27	the	the	DET
cuesj-1036	66	28	perfect	perfect	ADJ
cuesj-1036	66	29	moment	moment	NOUN
cuesj-1036	66	30	.	.	PUNCT
cuesj-1036	67	1	related	relate	VERB
cuesj-1036	67	2	work	work	NOUN
cuesj-1036	67	3	the	the	DET
cuesj-1036	67	4	issue	issue	NOUN
cuesj-1036	67	5	of	of	ADP
cuesj-1036	67	6	facial	facial	ADJ
cuesj-1036	67	7	recognition	recognition	NOUN
cuesj-1036	67	8	,	,	PUNCT
cuesj-1036	67	9	detection	detection	NOUN
cuesj-1036	67	10	,	,	PUNCT
cuesj-1036	67	11	and	and	CCONJ
cuesj-1036	67	12	tracking	track	VERB
cuesj-1036	67	13	from	from	ADP
cuesj-1036	67	14	a	a	DET
cuesj-1036	67	15	drone	drone	NOUN
cuesj-1036	67	16	has	have	AUX
cuesj-1036	67	17	been	be	AUX
cuesj-1036	67	18	addressed	address	VERB
cuesj-1036	67	19	more	more	ADV
cuesj-1036	67	20	recently	recently	ADV
cuesj-1036	67	21	,	,	PUNCT
cuesj-1036	67	22	as	as	SCONJ
cuesj-1036	67	23	advancements	advancement	NOUN
cuesj-1036	67	24	in	in	ADP
cuesj-1036	67	25	technology	technology	NOUN
cuesj-1036	67	26	have	have	AUX
cuesj-1036	67	27	made	make	VERB
cuesj-1036	67	28	it	it	PRON
cuesj-1036	67	29	possible	possible	ADJ
cuesj-1036	67	30	for	for	SCONJ
cuesj-1036	67	31	drones	drone	NOUN
cuesj-1036	67	32	to	to	PART
cuesj-1036	67	33	incorporate	incorporate	VERB
cuesj-1036	67	34	facial	facial	ADJ
cuesj-1036	67	35	recognition	recognition	NOUN
cuesj-1036	67	36	software	software	NOUN
cuesj-1036	67	37	.	.	PUNCT
cuesj-1036	68	1	many	many	ADJ
cuesj-1036	68	2	studies	study	NOUN
cuesj-1036	68	3	have	have	AUX
cuesj-1036	68	4	been	be	AUX
cuesj-1036	68	5	published	publish	VERB
cuesj-1036	68	6	in	in	ADP
cuesj-1036	68	7	this	this	DET
cuesj-1036	68	8	field	field	NOUN
cuesj-1036	68	9	and	and	CCONJ
cuesj-1036	68	10	try	try	VERB
cuesj-1036	68	11	to	to	PART
cuesj-1036	68	12	solve	solve	VERB
cuesj-1036	68	13	this	this	DET
cuesj-1036	68	14	problem	problem	NOUN
cuesj-1036	68	15	in	in	ADP
cuesj-1036	68	16	fields	field	NOUN
cuesj-1036	68	17	such	such	ADJ
cuesj-1036	68	18	as	as	ADP
cuesj-1036	68	19	photography	photography	NOUN
cuesj-1036	68	20	or	or	CCONJ
cuesj-1036	68	21	surveillance	surveillance	NOUN
cuesj-1036	68	22	.	.	PUNCT
cuesj-1036	69	1	these	these	DET
cuesj-1036	69	2	studies	study	NOUN
cuesj-1036	69	3	aim	aim	VERB
cuesj-1036	69	4	to	to	PART
cuesj-1036	69	5	improve	improve	VERB
cuesj-1036	69	6	the	the	DET
cuesj-1036	69	7	accuracy	accuracy	NOUN
cuesj-1036	69	8	and	and	CCONJ
cuesj-1036	69	9	efficiency	efficiency	NOUN
cuesj-1036	69	10	of	of	ADP
cuesj-1036	69	11	facial	facial	ADJ
cuesj-1036	69	12	recognition	recognition	NOUN
cuesj-1036	69	13	algorithms	algorithm	NOUN
cuesj-1036	69	14	when	when	SCONJ
cuesj-1036	69	15	applied	apply	VERB
cuesj-1036	69	16	to	to	ADP
cuesj-1036	69	17	drone	drone	NOUN
cuesj-1036	69	18	technology	technology	NOUN
cuesj-1036	69	19	.	.	PUNCT
cuesj-1036	70	1	in	in	ADP
cuesj-1036	70	2	addition	addition	NOUN
cuesj-1036	70	3	,	,	PUNCT
cuesj-1036	70	4	researchers	researcher	NOUN
cuesj-1036	70	5	are	be	AUX
cuesj-1036	70	6	exploring	explore	VERB
cuesj-1036	70	7	the	the	DET
cuesj-1036	70	8	ethical	ethical	ADJ
cuesj-1036	70	9	implications	implication	NOUN
cuesj-1036	70	10	and	and	CCONJ
cuesj-1036	70	11	privacy	privacy	NOUN
cuesj-1036	70	12	concerns	concern	NOUN
cuesj-1036	70	13	associated	associate	VERB
cuesj-1036	70	14	with	with	ADP
cuesj-1036	70	15	the	the	DET
cuesj-1036	70	16	use	use	NOUN
cuesj-1036	70	17	of	of	ADP
cuesj-1036	70	18	facial	facial	ADJ
cuesj-1036	70	19	recognition	recognition	NOUN
cuesj-1036	70	20	on	on	ADP
cuesj-1036	70	21	drones	drone	NOUN
cuesj-1036	70	22	,	,	PUNCT
cuesj-1036	70	23	further	far	ADV
cuesj-1036	70	24	complicating	complicate	VERB
cuesj-1036	70	25	the	the	DET
cuesj-1036	70	26	development	development	NOUN
cuesj-1036	70	27	and	and	CCONJ
cuesj-1036	70	28	implementation	implementation	NOUN
cuesj-1036	70	29	of	of	ADP
cuesj-1036	70	30	this	this	DET
cuesj-1036	70	31	technology	technology	NOUN
cuesj-1036	70	32	.	.	PUNCT
cuesj-1036	71	1	the	the	DET
cuesj-1036	71	2	study[9	study[9	NOUN
cuesj-1036	71	3	]	]	PUNCT
cuesj-1036	71	4	proposes	propose	VERB
cuesj-1036	71	5	a	a	DET
cuesj-1036	71	6	face	face	NOUN
cuesj-1036	71	7	recognition	recognition	NOUN
cuesj-1036	71	8	-	-	PUNCT
cuesj-1036	71	9	based	base	VERB
cuesj-1036	71	10	drone	drone	NOUN
cuesj-1036	71	11	for	for	ADP
cuesj-1036	71	12	tracking	track	VERB
cuesj-1036	71	13	illicit	illicit	ADJ
cuesj-1036	71	14	and	and	CCONJ
cuesj-1036	71	15	missing	miss	VERB
cuesj-1036	71	16	individuals	individual	NOUN
cuesj-1036	71	17	using	use	VERB
cuesj-1036	71	18	haar	haar	X
cuesj-1036	71	19	cascade	cascade	NOUN
cuesj-1036	71	20	and	and	CCONJ
cuesj-1036	71	21	local	local	ADJ
cuesj-1036	71	22	binary	binary	ADJ
cuesj-1036	71	23	pattern	pattern	NOUN
cuesj-1036	71	24	histogram	histogram	NOUN
cuesj-1036	71	25	algorithms	algorithm	NOUN
cuesj-1036	71	26	.	.	PUNCT
cuesj-1036	72	1	the	the	DET
cuesj-1036	72	2	drone	drone	NOUN
cuesj-1036	72	3	achieved	achieve	VERB
cuesj-1036	72	4	98	98	NUM
cuesj-1036	72	5	percent	percent	NOUN
cuesj-1036	72	6	accuracy	accuracy	NOUN
cuesj-1036	72	7	in	in	ADP
cuesj-1036	72	8	identifying	identify	VERB
cuesj-1036	72	9	individuals	individual	NOUN
cuesj-1036	72	10	,	,	PUNCT
cuesj-1036	72	11	making	make	VERB
cuesj-1036	72	12	it	it	PRON
cuesj-1036	72	13	a	a	DET
cuesj-1036	72	14	valuable	valuable	ADJ
cuesj-1036	72	15	tool	tool	NOUN
cuesj-1036	72	16	for	for	ADP
cuesj-1036	72	17	security	security	NOUN
cuesj-1036	72	18	,	,	PUNCT
cuesj-1036	72	19	self	self	NOUN
cuesj-1036	72	20	-	-	PUNCT
cuesj-1036	72	21	confirmation	confirmation	NOUN
cuesj-1036	72	22	,	,	PUNCT
cuesj-1036	72	23	and	and	CCONJ
cuesj-1036	72	24	disaster	disaster	NOUN
cuesj-1036	72	25	relief	relief	NOUN
cuesj-1036	72	26	in	in	ADP
cuesj-1036	72	27	rural	rural	ADJ
cuesj-1036	72	28	regions	region	NOUN
cuesj-1036	72	29	.	.	PUNCT
cuesj-1036	73	1	the	the	DET
cuesj-1036	73	2	paper[10	paper[10	NOUN
cuesj-1036	73	3	]	]	PUNCT
cuesj-1036	73	4	presents	present	VERB
cuesj-1036	73	5	a	a	DET
cuesj-1036	73	6	haar	haar	NOUN
cuesj-1036	73	7	-	-	PUNCT
cuesj-1036	73	8	cascade	cascade	NOUN
cuesj-1036	73	9	-	-	PUNCT
cuesj-1036	73	10	based	base	VERB
cuesj-1036	73	11	classifier	classifier	NOUN
cuesj-1036	73	12	for	for	ADP
cuesj-1036	73	13	face	face	NOUN
cuesj-1036	73	14	detection	detection	NOUN
cuesj-1036	73	15	and	and	CCONJ
cuesj-1036	73	16	recognition	recognition	NOUN
cuesj-1036	73	17	on	on	ADP
cuesj-1036	73	18	a	a	DET
cuesj-1036	73	19	34.7	34.7	NUM
cuesj-1036	73	20	µg	µg	ADP
cuesj-1036	73	21	unmanned	unmanned	ADJ
cuesj-1036	73	22	aerial	aerial	ADJ
cuesj-1036	73	23	vehicle	vehicle	NOUN
cuesj-1036	73	24	(	(	PUNCT
cuesj-1036	73	25	uav	uav	PROPN
cuesj-1036	73	26	)	)	PUNCT
cuesj-1036	73	27	,	,	PUNCT
cuesj-1036	73	28	using	use	VERB
cuesj-1036	73	29	opencv	opencv	PROPN
cuesj-1036	73	30	python	python	PROPN
cuesj-1036	73	31	.	.	PUNCT
cuesj-1036	74	1	the	the	DET
cuesj-1036	74	2	face	face	NOUN
cuesj-1036	74	3	detection	detection	NOUN
cuesj-1036	74	4	process	process	NOUN
cuesj-1036	74	5	is	be	AUX
cuesj-1036	74	6	realtime	realtime	ADJ
cuesj-1036	74	7	,	,	PUNCT
cuesj-1036	74	8	using	use	VERB
cuesj-1036	74	9	an	an	DET
cuesj-1036	74	10	indoor	indoor	ADJ
cuesj-1036	74	11	fpv	fpv	NOUN
cuesj-1036	74	12	camera	camera	NOUN
cuesj-1036	74	13	.	.	PUNCT
cuesj-1036	75	1	the	the	DET
cuesj-1036	75	2	experiment	experiment	NOUN
cuesj-1036	75	3	reveals	reveal	VERB
cuesj-1036	75	4	that	that	SCONJ
cuesj-1036	75	5	the	the	DET
cuesj-1036	75	6	angle	angle	NOUN
cuesj-1036	75	7	of	of	ADP
cuesj-1036	75	8	the	the	DET
cuesj-1036	75	9	face	face	NOUN
cuesj-1036	75	10	is	be	AUX
cuesj-1036	75	11	crucial	crucial	ADJ
cuesj-1036	75	12	,	,	PUNCT
cuesj-1036	75	13	especially	especially	ADV
cuesj-1036	75	14	for	for	ADP
cuesj-1036	75	15	non	non	ADJ
cuesj-1036	75	16	-	-	ADJ
cuesj-1036	75	17	open	open	ADJ
cuesj-1036	75	18	faces	face	NOUN
cuesj-1036	75	19	,	,	PUNCT
cuesj-1036	75	20	and	and	CCONJ
cuesj-1036	75	21	the	the	DET
cuesj-1036	75	22	optimal	optimal	ADJ
cuesj-1036	75	23	angle	angle	NOUN
cuesj-1036	75	24	is	be	AUX
cuesj-1036	75	25	determined	determine	VERB
cuesj-1036	75	26	by	by	ADP
cuesj-1036	75	27	the	the	DET
cuesj-1036	75	28	camera	camera	NOUN
cuesj-1036	75	29	’s	’s	PART
cuesj-1036	75	30	slope	slope	NOUN
cuesj-1036	75	31	.	.	PUNCT
cuesj-1036	76	1	this	this	DET
cuesj-1036	76	2	paper[11	paper[11	NOUN
cuesj-1036	76	3	]	]	PUNCT
cuesj-1036	76	4	proposes	propose	VERB
cuesj-1036	76	5	a	a	DET
cuesj-1036	76	6	solution	solution	NOUN
cuesj-1036	76	7	using	use	VERB
cuesj-1036	76	8	a	a	DET
cuesj-1036	76	9	face	face	NOUN
cuesj-1036	76	10	recognitionbased	recognitionbase	VERB
cuesj-1036	76	11	uav	uav	PROPN
cuesj-1036	76	12	for	for	ADP
cuesj-1036	76	13	identifying	identify	VERB
cuesj-1036	76	14	criminals	criminal	NOUN
cuesj-1036	76	15	,	,	PUNCT
cuesj-1036	76	16	missing	miss	VERB
cuesj-1036	76	17	people	people	NOUN
cuesj-1036	76	18	,	,	PUNCT
cuesj-1036	76	19	and	and	CCONJ
cuesj-1036	76	20	civilians	civilian	NOUN
cuesj-1036	76	21	.	.	PUNCT
cuesj-1036	77	1	the	the	DET
cuesj-1036	77	2	system	system	NOUN
cuesj-1036	77	3	uses	use	VERB
cuesj-1036	77	4	a	a	DET
cuesj-1036	77	5	camera	camera	NOUN
cuesj-1036	77	6	linked	link	VERB
cuesj-1036	77	7	to	to	PART
cuesj-1036	77	8	face	face	VERB
cuesj-1036	77	9	recognition	recognition	NOUN
cuesj-1036	77	10	software	software	NOUN
cuesj-1036	77	11	and	and	CCONJ
cuesj-1036	77	12	a	a	DET
cuesj-1036	77	13	wireless	wireless	ADJ
cuesj-1036	77	14	remote	remote	NOUN
cuesj-1036	77	15	control	control	NOUN
cuesj-1036	77	16	.	.	PUNCT
cuesj-1036	78	1	the	the	DET
cuesj-1036	78	2	drone	drone	NOUN
cuesj-1036	78	3	’s	’s	PART
cuesj-1036	78	4	accuracy	accuracy	NOUN
cuesj-1036	78	5	is	be	AUX
cuesj-1036	78	6	98.6	98.6	NUM
cuesj-1036	78	7	%	%	NOUN
cuesj-1036	78	8	when	when	SCONJ
cuesj-1036	78	9	the	the	DET
cuesj-1036	78	10	camera	camera	NOUN
cuesj-1036	78	11	angle	angle	NOUN
cuesj-1036	78	12	is	be	AUX
cuesj-1036	78	13	37	37	NUM
cuesj-1036	78	14	°	°	NOUN
cuesj-1036	78	15	,	,	PUNCT
cuesj-1036	78	16	aiding	aid	VERB
cuesj-1036	78	17	police	police	NOUN
cuesj-1036	78	18	investigations	investigation	NOUN
cuesj-1036	78	19	in	in	ADP
cuesj-1036	78	20	search	search	NOUN
cuesj-1036	78	21	and	and	CCONJ
cuesj-1036	78	22	rescue	rescue	NOUN
cuesj-1036	78	23	.	.	PUNCT
cuesj-1036	79	1	this	this	DET
cuesj-1036	79	2	paper[12	paper[12	NOUN
cuesj-1036	79	3	]	]	PUNCT
cuesj-1036	79	4	proposes	propose	VERB
cuesj-1036	79	5	a	a	DET
cuesj-1036	79	6	facial	facial	ADJ
cuesj-1036	79	7	recognition	recognition	NOUN
cuesj-1036	79	8	system	system	NOUN
cuesj-1036	79	9	using	use	VERB
cuesj-1036	79	10	a	a	DET
cuesj-1036	79	11	local	local	ADJ
cuesj-1036	79	12	binary	binary	ADJ
cuesj-1036	79	13	patterns	pattern	NOUN
cuesj-1036	79	14	histogram	histogram	NOUN
cuesj-1036	79	15	face	face	NOUN
cuesj-1036	79	16	recognizer	recognizer	NOUN
cuesj-1036	79	17	mounted	mount	VERB
cuesj-1036	79	18	on	on	ADP
cuesj-1036	79	19	drone	drone	NOUN
cuesj-1036	79	20	technology	technology	NOUN
cuesj-1036	79	21	for	for	ADP
cuesj-1036	79	22	identifying	identify	VERB
cuesj-1036	79	23	criminals	criminal	NOUN
cuesj-1036	79	24	in	in	ADP
cuesj-1036	79	25	crowded	crowded	ADJ
cuesj-1036	79	26	areas	area	NOUN
cuesj-1036	79	27	.	.	PUNCT
cuesj-1036	80	1	the	the	DET
cuesj-1036	80	2	system	system	NOUN
cuesj-1036	80	3	can	can	AUX
cuesj-1036	80	4	be	be	AUX
cuesj-1036	80	5	used	use	VERB
cuesj-1036	80	6	as	as	ADP
cuesj-1036	80	7	a	a	DET
cuesj-1036	80	8	surveillance	surveillance	NOUN
cuesj-1036	80	9	drone	drone	NOUN
cuesj-1036	80	10	,	,	PUNCT
cuesj-1036	80	11	covering	cover	VERB
cuesj-1036	80	12	more	more	ADJ
cuesj-1036	80	13	areas	area	NOUN
cuesj-1036	80	14	than	than	ADP
cuesj-1036	80	15	a	a	DET
cuesj-1036	80	16	stationary	stationary	ADJ
cuesj-1036	80	17	system	system	NOUN
cuesj-1036	80	18	.	.	PUNCT
cuesj-1036	81	1	it	it	PRON
cuesj-1036	81	2	tags	tag	VERB
cuesj-1036	81	3	the	the	DET
cuesj-1036	81	4	person	person	NOUN
cuesj-1036	81	5	and	and	CCONJ
cuesj-1036	81	6	transmits	transmit	VERB
cuesj-1036	81	7	the	the	DET
cuesj-1036	81	8	image	image	NOUN
cuesj-1036	81	9	and	and	CCONJ
cuesj-1036	81	10	location	location	NOUN
cuesj-1036	81	11	coordinates	coordinate	NOUN
cuesj-1036	81	12	to	to	ADP
cuesj-1036	81	13	authorities	authority	NOUN
cuesj-1036	81	14	using	use	VERB
cuesj-1036	81	15	a	a	DET
cuesj-1036	81	16	mounted	mount	VERB
cuesj-1036	81	17	gps	gps	NOUN
cuesj-1036	81	18	,	,	PUNCT
cuesj-1036	81	19	achieving	achieve	VERB
cuesj-1036	81	20	an	an	DET
cuesj-1036	81	21	accuracy	accuracy	NOUN
cuesj-1036	81	22	of	of	ADP
cuesj-1036	81	23	approximately	approximately	ADV
cuesj-1036	81	24	89.1	89.1	NUM
cuesj-1036	81	25	%	%	NOUN
cuesj-1036	81	26	.	.	PUNCT
cuesj-1036	82	1	dji	dji	PROPN
cuesj-1036	82	2	tello	tello	PROPN
cuesj-1036	82	3	drone	drone	VERB
cuesj-1036	82	4	the	the	DET
cuesj-1036	82	5	drone	drone	NOUN
cuesj-1036	82	6	we	we	PRON
cuesj-1036	82	7	will	will	AUX
cuesj-1036	82	8	be	be	AUX
cuesj-1036	82	9	utilizing	utilize	VERB
cuesj-1036	82	10	for	for	ADP
cuesj-1036	82	11	this	this	DET
cuesj-1036	82	12	research	research	NOUN
cuesj-1036	82	13	is	be	AUX
cuesj-1036	82	14	the	the	DET
cuesj-1036	82	15	tello	tello	NOUN
cuesj-1036	82	16	,	,	PUNCT
cuesj-1036	82	17	which	which	PRON
cuesj-1036	82	18	can	can	AUX
cuesj-1036	82	19	be	be	AUX
cuesj-1036	82	20	seen	see	VERB
cuesj-1036	82	21	in	in	ADP
cuesj-1036	82	22	figure	figure	NOUN
cuesj-1036	82	23	1	1	NUM
cuesj-1036	82	24	.	.	PUNCT
cuesj-1036	83	1	although	although	SCONJ
cuesj-1036	83	2	this	this	DET
cuesj-1036	83	3	drone	drone	NOUN
cuesj-1036	83	4	is	be	AUX
cuesj-1036	83	5	recommended	recommend	VERB
cuesj-1036	83	6	for	for	ADP
cuesj-1036	83	7	use	use	NOUN
cuesj-1036	83	8	with	with	ADP
cuesj-1036	83	9	this	this	DET
cuesj-1036	83	10	course	course	NOUN
cuesj-1036	83	11	,	,	PUNCT
cuesj-1036	83	12	the	the	DET
cuesj-1036	83	13	same	same	ADJ
cuesj-1036	83	14	concepts	concept	NOUN
cuesj-1036	83	15	can	can	AUX
cuesj-1036	83	16	be	be	AUX
cuesj-1036	83	17	applied	apply	VERB
cuesj-1036	83	18	to	to	ADP
cuesj-1036	83	19	other	other	ADJ
cuesj-1036	83	20	drones	drone	NOUN
cuesj-1036	83	21	.	.	PUNCT
cuesj-1036	84	1	in	in	ADP
cuesj-1036	84	2	truth	truth	NOUN
cuesj-1036	84	3	,	,	PUNCT
cuesj-1036	84	4	only	only	ADV
cuesj-1036	84	5	20	20	NUM
cuesj-1036	84	6	%	%	NOUN
cuesj-1036	84	7	of	of	ADP
cuesj-1036	84	8	this	this	DET
cuesj-1036	84	9	training	training	NOUN
cuesj-1036	84	10	is	be	AUX
cuesj-1036	84	11	particular	particular	ADJ
cuesj-1036	84	12	to	to	ADP
cuesj-1036	84	13	the	the	DET
cuesj-1036	84	14	tello	tello	PROPN
cuesj-1036	84	15	drone	drone	NOUN
cuesj-1036	84	16	,	,	PUNCT
cuesj-1036	84	17	while	while	SCONJ
cuesj-1036	84	18	80	80	NUM
cuesj-1036	84	19	%	%	NOUN
cuesj-1036	84	20	of	of	ADP
cuesj-1036	84	21	this	this	DET
cuesj-1036	84	22	research	research	NOUN
cuesj-1036	84	23	is	be	AUX
cuesj-1036	84	24	applicable	applicable	ADJ
cuesj-1036	84	25	to	to	ADP
cuesj-1036	84	26	any	any	DET
cuesj-1036	84	27	other	other	ADJ
cuesj-1036	84	28	drones	drone	NOUN
cuesj-1036	84	29	.	.	PUNCT
cuesj-1036	85	1	a	a	DET
cuesj-1036	85	2	small	small	ADJ
cuesj-1036	85	3	drone	drone	NOUN
cuesj-1036	85	4	called	call	VERB
cuesj-1036	85	5	the	the	DET
cuesj-1036	85	6	tello	tello	PROPN
cuesj-1036	85	7	is	be	AUX
cuesj-1036	85	8	fitted	fit	VERB
cuesj-1036	85	9	with	with	ADP
cuesj-1036	85	10	a	a	DET
cuesj-1036	85	11	camera	camera	NOUN
cuesj-1036	85	12	that	that	PRON
cuesj-1036	85	13	can	can	AUX
cuesj-1036	85	14	record	record	VERB
cuesj-1036	85	15	720p	720p	NUM
cuesj-1036	85	16	video	video	NOUN
cuesj-1036	85	17	at	at	ADP
cuesj-1036	85	18	30	30	NUM
cuesj-1036	85	19	frames	frame	NOUN
cuesj-1036	85	20	per	per	ADP
cuesj-1036	85	21	second	second	NOUN
cuesj-1036	85	22	.	.	PUNCT
cuesj-1036	86	1	it	it	PRON
cuesj-1036	86	2	is	be	AUX
cuesj-1036	86	3	abdallah	abdallah	PROPN
cuesj-1036	86	4	:	:	PUNCT
cuesj-1036	86	5	dji	dji	PROPN
cuesj-1036	86	6	tello	tello	PROPN
cuesj-1036	86	7	quad	quad	PROPN
cuesj-1036	86	8	:	:	PUNCT
cuesj-1036	86	9	face	face	NOUN
cuesj-1036	86	10	-	-	PUNCT
cuesj-1036	86	11	following	follow	VERB
cuesj-1036	86	12	system	system	NOUN
cuesj-1036	86	13	with	with	ADP
cuesj-1036	86	14	haar	haar	NOUN
cuesj-1036	86	15	cascade	cascade	NOUN
cuesj-1036	86	16	and	and	CCONJ
cuesj-1036	86	17	pid	pid	NOUN
cuesj-1036	86	18	control	control	NOUN
cuesj-1036	86	19	56	56	NUM
cuesj-1036	86	20	http://journals.cihanuniversity.edu.iq/index.php/cuesj	http://journals.cihanuniversity.edu.iq/index.php/cuesj	ADJ
cuesj-1036	86	21	cuesj	cuesj	NOUN
cuesj-1036	86	22	2023	2023	NUM
cuesj-1036	86	23	,	,	PUNCT
cuesj-1036	86	24	7	7	NUM
cuesj-1036	86	25	(	(	PUNCT
cuesj-1036	86	26	2	2	NUM
cuesj-1036	86	27	):	):	PUNCT
cuesj-1036	86	28	54	54	NUM
cuesj-1036	86	29	-	-	SYM
cuesj-1036	86	30	59	59	NUM
cuesj-1036	86	31	manufactured	manufacture	VERB
cuesj-1036	86	32	by	by	ADP
cuesj-1036	86	33	rise	rise	NOUN
cuesj-1036	86	34	and	and	CCONJ
cuesj-1036	86	35	has	have	VERB
cuesj-1036	86	36	dji	dji	NOUN
cuesj-1036	86	37	and	and	CCONJ
cuesj-1036	86	38	internal	internal	ADJ
cuesj-1036	86	39	flight	flight	NOUN
cuesj-1036	86	40	control	control	NOUN
cuesj-1036	86	41	technology	technology	NOUN
cuesj-1036	86	42	,	,	PUNCT
cuesj-1036	86	43	as	as	ADV
cuesj-1036	86	44	well	well	ADV
cuesj-1036	86	45	as	as	ADP
cuesj-1036	86	46	internal	internal	ADJ
cuesj-1036	86	47	lighting	lighting	NOUN
cuesj-1036	86	48	and	and	CCONJ
cuesj-1036	86	49	sensors	sensor	NOUN
cuesj-1036	86	50	.	.	PUNCT
cuesj-1036	87	1	because	because	SCONJ
cuesj-1036	87	2	it	it	PRON
cuesj-1036	87	3	has	have	VERB
cuesj-1036	87	4	various	various	ADJ
cuesj-1036	87	5	safety	safety	NOUN
cuesj-1036	87	6	features	feature	NOUN
cuesj-1036	87	7	,	,	PUNCT
cuesj-1036	87	8	it	it	PRON
cuesj-1036	87	9	is	be	AUX
cuesj-1036	87	10	very	very	ADV
cuesj-1036	87	11	simple	simple	ADJ
cuesj-1036	87	12	and	and	CCONJ
cuesj-1036	87	13	safe	safe	ADJ
cuesj-1036	87	14	to	to	PART
cuesj-1036	87	15	use	use	VERB
cuesj-1036	87	16	indoors[13	indoors[13	NOUN
cuesj-1036	87	17	]	]	PUNCT
cuesj-1036	87	18	.	.	PUNCT
cuesj-1036	88	1	the	the	DET
cuesj-1036	88	2	nicest	nice	ADJ
cuesj-1036	88	3	feature	feature	NOUN
cuesj-1036	88	4	about	about	ADP
cuesj-1036	88	5	this	this	DET
cuesj-1036	88	6	drone	drone	NOUN
cuesj-1036	88	7	for	for	ADP
cuesj-1036	88	8	learning	learn	VERB
cuesj-1036	88	9	drone	drone	NOUN
cuesj-1036	88	10	programming	programming	NOUN
cuesj-1036	88	11	is	be	AUX
cuesj-1036	88	12	that	that	SCONJ
cuesj-1036	88	13	it	it	PRON
cuesj-1036	88	14	is	be	AUX
cuesj-1036	88	15	programmable	programmable	ADJ
cuesj-1036	88	16	,	,	PUNCT
cuesj-1036	88	17	which	which	PRON
cuesj-1036	88	18	means	mean	VERB
cuesj-1036	88	19	it	it	PRON
cuesj-1036	88	20	is	be	AUX
cuesj-1036	88	21	open	open	ADJ
cuesj-1036	88	22	source	source	NOUN
cuesj-1036	88	23	and	and	CCONJ
cuesj-1036	88	24	we	we	PRON
cuesj-1036	88	25	can	can	AUX
cuesj-1036	88	26	use	use	VERB
cuesj-1036	88	27	computer	computer	NOUN
cuesj-1036	88	28	vision	vision	NOUN
cuesj-1036	88	29	technologies	technology	NOUN
cuesj-1036	88	30	on	on	ADP
cuesj-1036	88	31	it	it	PRON
cuesj-1036	88	32	.	.	PUNCT
cuesj-1036	89	1	the	the	DET
cuesj-1036	89	2	tello	tello	PROPN
cuesj-1036	89	3	may	may	AUX
cuesj-1036	89	4	be	be	AUX
cuesj-1036	89	5	operated	operate	VERB
cuesj-1036	89	6	using	use	VERB
cuesj-1036	89	7	a	a	DET
cuesj-1036	89	8	mobile	mobile	ADJ
cuesj-1036	89	9	application	application	NOUN
cuesj-1036	89	10	that	that	PRON
cuesj-1036	89	11	connects	connect	VERB
cuesj-1036	89	12	to	to	ADP
cuesj-1036	89	13	a	a	DET
cuesj-1036	89	14	wi	wi	PROPN
cuesj-1036	89	15	-	-	PUNCT
cuesj-1036	89	16	fi	fi	NOUN
cuesj-1036	89	17	network	network	NOUN
cuesj-1036	89	18	and	and	CCONJ
cuesj-1036	89	19	is	be	AUX
cuesj-1036	89	20	compatible	compatible	ADJ
cuesj-1036	89	21	with	with	ADP
cuesj-1036	89	22	both	both	CCONJ
cuesj-1036	89	23	apple	apple	NOUN
cuesj-1036	89	24	and	and	CCONJ
cuesj-1036	89	25	android	android	PROPN
cuesj-1036	89	26	devices	device	NOUN
cuesj-1036	89	27	.	.	PUNCT
cuesj-1036	90	1	it	it	PRON
cuesj-1036	90	2	contains	contain	VERB
cuesj-1036	90	3	a	a	DET
cuesj-1036	90	4	lot	lot	NOUN
cuesj-1036	90	5	of	of	ADP
cuesj-1036	90	6	features	feature	NOUN
cuesj-1036	90	7	and	and	CCONJ
cuesj-1036	90	8	is	be	AUX
cuesj-1036	90	9	quite	quite	ADV
cuesj-1036	90	10	user	user	NOUN
cuesj-1036	90	11	-	-	PUNCT
cuesj-1036	90	12	friendly	friendly	ADJ
cuesj-1036	90	13	.	.	PUNCT
cuesj-1036	91	1	matrials	matrial	NOUN
cuesj-1036	91	2	and	and	CCONJ
cuesj-1036	91	3	methods	method	NOUN
cuesj-1036	91	4	the	the	DET
cuesj-1036	91	5	additional	additional	ADJ
cuesj-1036	91	6	functions	function	NOUN
cuesj-1036	91	7	found	find	VERB
cuesj-1036	91	8	on	on	ADP
cuesj-1036	91	9	the	the	DET
cuesj-1036	91	10	mini	mini	ADJ
cuesj-1036	91	11	tello	tello	PROPN
cuesj-1036	91	12	drone	drone	NOUN
cuesj-1036	91	13	are	be	AUX
cuesj-1036	91	14	its	its	PRON
cuesj-1036	91	15	main	main	ADJ
cuesj-1036	91	16	benefits	benefit	NOUN
cuesj-1036	91	17	such	such	ADJ
cuesj-1036	91	18	as	as	ADP
cuesj-1036	91	19	the	the	DET
cuesj-1036	91	20	vps	vps	NOUN
cuesj-1036	91	21	and	and	CCONJ
cuesj-1036	91	22	an	an	DET
cuesj-1036	91	23	onboard	onboard	ADJ
cuesj-1036	91	24	camera	camera	NOUN
cuesj-1036	91	25	,	,	PUNCT
cuesj-1036	91	26	which	which	PRON
cuesj-1036	91	27	are	be	AUX
cuesj-1036	91	28	the	the	DET
cuesj-1036	91	29	key	key	ADJ
cuesj-1036	91	30	advantages	advantage	NOUN
cuesj-1036	91	31	of	of	ADP
cuesj-1036	91	32	the	the	DET
cuesj-1036	91	33	mini	mini	ADJ
cuesj-1036	91	34	tello	tello	PROPN
cuesj-1036	91	35	drone	drone	NOUN
cuesj-1036	91	36	.	.	PUNCT
cuesj-1036	92	1	this	this	DET
cuesj-1036	92	2	small	small	ADJ
cuesj-1036	92	3	quadcopter	quadcopter	NOUN
cuesj-1036	92	4	hovers	hover	NOUN
cuesj-1036	92	5	in	in	ADP
cuesj-1036	92	6	a	a	DET
cuesj-1036	92	7	quiet	quiet	ADJ
cuesj-1036	92	8	posture	posture	NOUN
cuesj-1036	92	9	thanks	thank	NOUN
cuesj-1036	92	10	to	to	ADP
cuesj-1036	92	11	these	these	DET
cuesj-1036	92	12	capabilities	capability	NOUN
cuesj-1036	92	13	and	and	CCONJ
cuesj-1036	92	14	an	an	DET
cuesj-1036	92	15	advanced	advanced	ADJ
cuesj-1036	92	16	control	control	NOUN
cuesj-1036	92	17	system	system	NOUN
cuesj-1036	92	18	.	.	PUNCT
cuesj-1036	93	1	this	this	DET
cuesj-1036	93	2	small	small	ADJ
cuesj-1036	93	3	drone	drone	NOUN
cuesj-1036	93	4	’s	’s	PART
cuesj-1036	93	5	inbuilt	inbuilt	ADJ
cuesj-1036	93	6	camera	camera	NOUN
cuesj-1036	93	7	is	be	AUX
cuesj-1036	93	8	capable	capable	ADJ
cuesj-1036	93	9	of	of	ADP
cuesj-1036	93	10	taking	take	VERB
cuesj-1036	93	11	5	5	NUM
cuesj-1036	93	12	-	-	PUNCT
cuesj-1036	93	13	megapixel	megapixel	NOUN
cuesj-1036	93	14	images	image	NOUN
cuesj-1036	93	15	and	and	CCONJ
cuesj-1036	93	16	streaming	streaming	NOUN
cuesj-1036	93	17	720p	720p	NUM
cuesj-1036	93	18	video	video	NOUN
cuesj-1036	93	19	in	in	ADP
cuesj-1036	93	20	real	real	ADJ
cuesj-1036	93	21	-	-	PUNCT
cuesj-1036	93	22	time	time	NOUN
cuesj-1036	93	23	.	.	PUNCT
cuesj-1036	94	1	with	with	ADP
cuesj-1036	94	2	a	a	DET
cuesj-1036	94	3	maximum	maximum	ADJ
cuesj-1036	94	4	distance	distance	NOUN
cuesj-1036	94	5	of	of	ADP
cuesj-1036	94	6	around	around	ADV
cuesj-1036	94	7	100	100	NUM
cuesj-1036	94	8	m	m	NOUN
cuesj-1036	94	9	,	,	PUNCT
cuesj-1036	94	10	13	13	NUM
cuesj-1036	94	11	min	min	NOUN
cuesj-1036	94	12	is	be	AUX
cuesj-1036	94	13	the	the	DET
cuesj-1036	94	14	longest	long	ADJ
cuesj-1036	94	15	flight	flight	NOUN
cuesj-1036	94	16	possible	possible	ADJ
cuesj-1036	94	17	.	.	PUNCT
cuesj-1036	95	1	this	this	DET
cuesj-1036	95	2	drone	drone	NOUN
cuesj-1036	95	3	features	feature	VERB
cuesj-1036	95	4	a	a	DET
cuesj-1036	95	5	failsafe	failsafe	ADJ
cuesj-1036	95	6	protection	protection	NOUN
cuesj-1036	95	7	mechanism	mechanism	NOUN
cuesj-1036	95	8	;	;	PUNCT
cuesj-1036	95	9	it	it	PRON
cuesj-1036	95	10	implies	imply	VERB
cuesj-1036	95	11	that	that	SCONJ
cuesj-1036	95	12	the	the	DET
cuesj-1036	95	13	drone	drone	NOUN
cuesj-1036	95	14	will	will	AUX
cuesj-1036	95	15	safely	safely	ADV
cuesj-1036	95	16	land	land	VERB
cuesj-1036	95	17	even	even	ADV
cuesj-1036	95	18	if	if	SCONJ
cuesj-1036	95	19	the	the	DET
cuesj-1036	95	20	connection	connection	NOUN
cuesj-1036	95	21	is	be	AUX
cuesj-1036	95	22	lost	lose	VERB
cuesj-1036	95	23	.	.	PUNCT
cuesj-1036	96	1	the	the	DET
cuesj-1036	96	2	drone	drone	NOUN
cuesj-1036	96	3	’s	’s	PART
cuesj-1036	96	4	other	other	ADJ
cuesj-1036	96	5	safety	safety	NOUN
cuesj-1036	96	6	feature	feature	NOUN
cuesj-1036	96	7	is	be	AUX
cuesj-1036	96	8	that	that	SCONJ
cuesj-1036	96	9	the	the	DET
cuesj-1036	96	10	engine	engine	NOUN
cuesj-1036	96	11	will	will	AUX
cuesj-1036	96	12	stop	stop	VERB
cuesj-1036	96	13	rotating	rotate	VERB
cuesj-1036	96	14	if	if	SCONJ
cuesj-1036	96	15	it	it	PRON
cuesj-1036	96	16	collides	collide	VERB
cuesj-1036	96	17	with	with	ADP
cuesj-1036	96	18	an	an	DET
cuesj-1036	96	19	item	item	NOUN
cuesj-1036	96	20	hard	hard	ADJ
cuesj-1036	96	21	enough.[14	enough.[14	PROPN
cuesj-1036	96	22	]	]	PUNCT
cuesj-1036	96	23	this	this	DET
cuesj-1036	96	24	drone	drone	NOUN
cuesj-1036	96	25	can	can	AUX
cuesj-1036	96	26	programmability	programmability	NOUN
cuesj-1036	96	27	with	with	ADP
cuesj-1036	96	28	python	python	NOUN
cuesj-1036	96	29	and	and	CCONJ
cuesj-1036	96	30	swift	swift	ADJ
cuesj-1036	96	31	.	.	PUNCT
cuesj-1036	97	1	using	use	VERB
cuesj-1036	97	2	the	the	DET
cuesj-1036	97	3	djitellopy	djitellopy	ADJ
cuesj-1036	97	4	library	library	NOUN
cuesj-1036	97	5	,	,	PUNCT
cuesj-1036	97	6	we	we	PRON
cuesj-1036	97	7	can	can	AUX
cuesj-1036	97	8	have	have	VERB
cuesj-1036	97	9	access	access	NOUN
cuesj-1036	97	10	to	to	ADP
cuesj-1036	97	11	the	the	DET
cuesj-1036	97	12	sensor	sensor	NOUN
cuesj-1036	97	13	data	datum	NOUN
cuesj-1036	97	14	on	on	ADP
cuesj-1036	97	15	the	the	DET
cuesj-1036	97	16	dji	dji	NOUN
cuesj-1036	97	17	tello	tello	NOUN
cuesj-1036	97	18	and	and	CCONJ
cuesj-1036	97	19	execute	execute	VERB
cuesj-1036	97	20	instructions	instruction	NOUN
cuesj-1036	97	21	.	.	PUNCT
cuesj-1036	98	1	the	the	DET
cuesj-1036	98	2	materials	material	NOUN
cuesj-1036	98	3	used	use	VERB
cuesj-1036	98	4	in	in	ADP
cuesj-1036	98	5	the	the	DET
cuesj-1036	98	6	research	research	NOUN
cuesj-1036	98	7	are	be	AUX
cuesj-1036	98	8	shown	show	VERB
cuesj-1036	98	9	in	in	ADP
cuesj-1036	98	10	table	table	NOUN
cuesj-1036	98	11	1	1	NUM
cuesj-1036	98	12	.	.	PUNCT
cuesj-1036	99	1	a	a	DET
cuesj-1036	99	2	dji	dji	PROPN
cuesj-1036	99	3	tello	tello	PROPN
cuesj-1036	99	4	drone	drone	NOUN
cuesj-1036	99	5	with	with	ADP
cuesj-1036	99	6	a	a	DET
cuesj-1036	99	7	laptop	laptop	NOUN
cuesj-1036	99	8	attached	attach	VERB
cuesj-1036	99	9	can	can	AUX
cuesj-1036	99	10	communicate	communicate	VERB
cuesj-1036	99	11	over	over	ADP
cuesj-1036	99	12	a	a	DET
cuesj-1036	99	13	wi	wi	PROPN
cuesj-1036	99	14	-	-	PUNCT
cuesj-1036	99	15	fi	fi	NOUN
cuesj-1036	99	16	network	network	NOUN
cuesj-1036	99	17	.	.	PUNCT
cuesj-1036	100	1	using	use	VERB
cuesj-1036	100	2	a	a	DET
cuesj-1036	100	3	computer	computer	NOUN
cuesj-1036	100	4	vision	vision	NOUN
cuesj-1036	100	5	technique	technique	NOUN
cuesj-1036	100	6	that	that	PRON
cuesj-1036	100	7	is	be	AUX
cuesj-1036	100	8	described	describe	VERB
cuesj-1036	100	9	in	in	ADP
cuesj-1036	100	10	the	the	DET
cuesj-1036	100	11	methodology	methodology	NOUN
cuesj-1036	100	12	section	section	NOUN
cuesj-1036	100	13	,	,	PUNCT
cuesj-1036	100	14	the	the	DET
cuesj-1036	100	15	dji	dji	PROPN
cuesj-1036	100	16	tello	tello	PROPN
cuesj-1036	100	17	camera	camera	NOUN
cuesj-1036	100	18	takes	take	VERB
cuesj-1036	100	19	a	a	DET
cuesj-1036	100	20	picture	picture	NOUN
cuesj-1036	100	21	that	that	PRON
cuesj-1036	100	22	is	be	AUX
cuesj-1036	100	23	then	then	ADV
cuesj-1036	100	24	delivered	deliver	VERB
cuesj-1036	100	25	to	to	ADP
cuesj-1036	100	26	a	a	DET
cuesj-1036	100	27	laptop	laptop	NOUN
cuesj-1036	100	28	for	for	ADP
cuesj-1036	100	29	processing	processing	NOUN
cuesj-1036	100	30	.	.	PUNCT
cuesj-1036	101	1	table	table	NOUN
cuesj-1036	101	2	2	2	NUM
cuesj-1036	101	3	shows	show	VERB
cuesj-1036	101	4	the	the	DET
cuesj-1036	101	5	detailed	detailed	ADJ
cuesj-1036	101	6	specifications	specification	NOUN
cuesj-1036	101	7	of	of	ADP
cuesj-1036	101	8	the	the	DET
cuesj-1036	101	9	computer	computer	NOUN
cuesj-1036	101	10	utilized	utilize	VERB
cuesj-1036	101	11	in	in	ADP
cuesj-1036	101	12	this	this	DET
cuesj-1036	101	13	research	research	NOUN
cuesj-1036	101	14	.	.	PUNCT
cuesj-1036	102	1	there	there	PRON
cuesj-1036	102	2	are	be	VERB
cuesj-1036	102	3	a	a	DET
cuesj-1036	102	4	lot	lot	NOUN
cuesj-1036	102	5	of	of	ADP
cuesj-1036	102	6	amazing	amazing	ADJ
cuesj-1036	102	7	projects	project	NOUN
cuesj-1036	102	8	that	that	PRON
cuesj-1036	102	9	can	can	AUX
cuesj-1036	102	10	be	be	AUX
cuesj-1036	102	11	done	do	VERB
cuesj-1036	102	12	with	with	ADP
cuesj-1036	102	13	djitellopy	djitellopy	ADJ
cuesj-1036	102	14	library	library	NOUN
cuesj-1036	102	15	that	that	PRON
cuesj-1036	102	16	made	make	VERB
cuesj-1036	102	17	the	the	DET
cuesj-1036	102	18	behavior	behavior	NOUN
cuesj-1036	102	19	like	like	ADP
cuesj-1036	102	20	an	an	DET
cuesj-1036	102	21	ai	ai	NOUN
cuesj-1036	102	22	machine	machine	NOUN
cuesj-1036	102	23	for	for	ADP
cuesj-1036	102	24	instance	instance	NOUN
cuesj-1036	102	25	(	(	PUNCT
cuesj-1036	102	26	face	face	NOUN
cuesj-1036	102	27	tracking	tracking	NOUN
cuesj-1036	102	28	,	,	PUNCT
cuesj-1036	102	29	object	object	NOUN
cuesj-1036	102	30	detection	detection	NOUN
cuesj-1036	102	31	,	,	PUNCT
cuesj-1036	102	32	hand	hand	NOUN
cuesj-1036	102	33	gesture	gesture	NOUN
cuesj-1036	102	34	,	,	PUNCT
cuesj-1036	102	35	etc	etc	X
cuesj-1036	102	36	)	)	PUNCT
cuesj-1036	102	37	,	,	PUNCT
cuesj-1036	102	38	for	for	ADP
cuesj-1036	102	39	this	this	DET
cuesj-1036	102	40	project	project	NOUN
cuesj-1036	102	41	we	we	PRON
cuesj-1036	102	42	will	will	AUX
cuesj-1036	102	43	focus	focus	VERB
cuesj-1036	102	44	on	on	ADP
cuesj-1036	102	45	face	face	NOUN
cuesj-1036	102	46	detection	detection	NOUN
cuesj-1036	102	47	and	and	CCONJ
cuesj-1036	102	48	tracking	tracking	NOUN
cuesj-1036	102	49	.	.	PUNCT
cuesj-1036	103	1	for	for	ADP
cuesj-1036	103	2	face	face	NOUN
cuesj-1036	103	3	detection	detection	NOUN
cuesj-1036	103	4	,	,	PUNCT
cuesj-1036	103	5	there	there	PRON
cuesj-1036	103	6	are	be	VERB
cuesj-1036	103	7	a	a	DET
cuesj-1036	103	8	lot	lot	NOUN
cuesj-1036	103	9	of	of	ADP
cuesj-1036	103	10	amazing	amazing	ADJ
cuesj-1036	103	11	methods	method	NOUN
cuesj-1036	103	12	could	could	AUX
cuesj-1036	103	13	be	be	AUX
cuesj-1036	103	14	used	use	VERB
cuesj-1036	103	15	with	with	ADP
cuesj-1036	103	16	great	great	ADJ
cuesj-1036	103	17	results	result	NOUN
cuesj-1036	103	18	,	,	PUNCT
cuesj-1036	103	19	but	but	CCONJ
cuesj-1036	103	20	need	need	VERB
cuesj-1036	103	21	large	large	ADJ
cuesj-1036	103	22	figure	figure	NOUN
cuesj-1036	103	23	1	1	NUM
cuesj-1036	103	24	:	:	PUNCT
cuesj-1036	103	25	mini	mini	ADJ
cuesj-1036	103	26	quadcopter	quadcopter	PROPN
cuesj-1036	103	27	dji	dji	PROPN
cuesj-1036	103	28	tello	tello	PROPN
cuesj-1036	103	29	table	table	NOUN
cuesj-1036	103	30	2	2	NUM
cuesj-1036	103	31	:	:	PUNCT
cuesj-1036	103	32	materials	material	NOUN
cuesj-1036	103	33	materials	material	NOUN
cuesj-1036	103	34	name	name	NOUN
cuesj-1036	103	35	cpu	cpu	VERB
cuesj-1036	103	36	intel	intel	PROPN
cuesj-1036	103	37	i7	i7	PROPN
cuesj-1036	103	38	-	-	PUNCT
cuesj-1036	103	39	7200u	7200u	NUM
cuesj-1036	103	40	(	(	PUNCT
cuesj-1036	103	41	2c	2c	NOUN
cuesj-1036	103	42	4	4	NUM
cuesj-1036	103	43	t	t	NOUN
cuesj-1036	103	44	,	,	PUNCT
cuesj-1036	103	45	max	max	PROPN
cuesj-1036	103	46	3.10	3.10	NUM
cuesj-1036	103	47	ghz	ghz	NOUN
cuesj-1036	103	48	)	)	PUNCT
cuesj-1036	103	49	ram	ram	NOUN
cuesj-1036	103	50	ddr4	ddr4	NOUN
cuesj-1036	103	51	12	12	NUM
cuesj-1036	104	1	gb	gb	NOUN
cuesj-1036	104	2	(	(	PUNCT
cuesj-1036	104	3	8gb+4	8gb+4	NUM
cuesj-1036	104	4	gb	gb	NOUN
cuesj-1036	104	5	)	)	PUNCT
cuesj-1036	104	6	connectivity	connectivity	NOUN
cuesj-1036	104	7	wifi	wifi	NOUN
cuesj-1036	104	8	2.4ghz	2.4ghz	PROPN
cuesj-1036	104	9	webcam	webcam	NOUN
cuesj-1036	104	10	760p	760p	NUM
cuesj-1036	104	11	os	os	NOUN
cuesj-1036	104	12	ubuntu	ubuntu	ADJ
cuesj-1036	104	13	20.04.4	20.04.4	NUM
cuesj-1036	104	14	lts	lts	NOUN
cuesj-1036	104	15	table	table	NOUN
cuesj-1036	104	16	1	1	NUM
cuesj-1036	104	17	:	:	PUNCT
cuesj-1036	104	18	materials	material	NOUN
cuesj-1036	104	19	materials	material	NOUN
cuesj-1036	104	20	name	name	NOUN
cuesj-1036	104	21	version	version	NOUN
cuesj-1036	104	22	dji	dji	PROPN
cuesj-1036	104	23	drone	drone	NOUN
cuesj-1036	104	24	mini	mini	PROPN
cuesj-1036	104	25	tello	tello	PROPN
cuesj-1036	104	26	mini	mini	PROPN
cuesj-1036	104	27	pl	pl	PROPN
cuesj-1036	104	28	python	python	PROPN
cuesj-1036	104	29	3.6	3.6	NUM
cuesj-1036	104	30	v	v	NOUN
cuesj-1036	104	31	library	library	NOUN
cuesj-1036	104	32	djitellopy	djitellopy	VERB
cuesj-1036	104	33	2.4	2.4	NUM
cuesj-1036	104	34	v	v	NOUN
cuesj-1036	104	35	ide	ide	ADJ
cuesj-1036	104	36	pycharm	pycharm	NOUN
cuesj-1036	104	37	21	21	NUM
cuesj-1036	104	38	computation	computation	NOUN
cuesj-1036	104	39	.	.	PUNCT
cuesj-1036	105	1	therefore	therefore	ADV
cuesj-1036	105	2	,	,	PUNCT
cuesj-1036	105	3	the	the	DET
cuesj-1036	105	4	choice	choice	NOUN
cuesj-1036	105	5	of	of	ADP
cuesj-1036	105	6	the	the	DET
cuesj-1036	105	7	haar	haar	NOUN
cuesj-1036	105	8	cascade	cascade	NOUN
cuesj-1036	105	9	method	method	NOUN
cuesj-1036	105	10	was	be	AUX
cuesj-1036	105	11	influenced	influence	VERB
cuesj-1036	105	12	by	by	ADP
cuesj-1036	105	13	the	the	DET
cuesj-1036	105	14	computing	computing	NOUN
cuesj-1036	105	15	system	system	NOUN
cuesj-1036	105	16	’s	’s	PART
cuesj-1036	105	17	limitations	limitation	NOUN
cuesj-1036	105	18	.	.	PUNCT
cuesj-1036	106	1	the	the	DET
cuesj-1036	106	2	collection	collection	NOUN
cuesj-1036	106	3	of	of	ADP
cuesj-1036	106	4	haar	haar	PROPN
cuesj-1036	106	5	features	feature	NOUN
cuesj-1036	106	6	is	be	AUX
cuesj-1036	106	7	the	the	DET
cuesj-1036	106	8	initial	initial	ADJ
cuesj-1036	106	9	stage	stage	NOUN
cuesj-1036	106	10	in	in	ADP
cuesj-1036	106	11	the	the	DET
cuesj-1036	106	12	haar	haar	NOUN
cuesj-1036	106	13	cascade	cascade	NOUN
cuesj-1036	106	14	method	method	NOUN
cuesj-1036	106	15	.	.	PUNCT
cuesj-1036	107	1	a	a	DET
cuesj-1036	107	2	computation	computation	NOUN
cuesj-1036	107	3	known	know	VERB
cuesj-1036	107	4	as	as	ADP
cuesj-1036	107	5	a	a	DET
cuesj-1036	107	6	“	"	PUNCT
cuesj-1036	107	7	haar	haar	NOUN
cuesj-1036	107	8	feature	feature	NOUN
cuesj-1036	107	9	”	"	PUNCT
cuesj-1036	107	10	is	be	AUX
cuesj-1036	107	11	made	make	VERB
cuesj-1036	107	12	on	on	ADP
cuesj-1036	107	13	the	the	DET
cuesj-1036	107	14	neighboring	neighboring	ADJ
cuesj-1036	107	15	square	square	ADJ
cuesj-1036	107	16	area	area	NOUN
cuesj-1036	107	17	at	at	ADP
cuesj-1036	107	18	a	a	DET
cuesj-1036	107	19	certain	certain	ADJ
cuesj-1036	107	20	spot	spot	NOUN
cuesj-1036	107	21	in	in	ADP
cuesj-1036	107	22	a	a	DET
cuesj-1036	107	23	detection	detection	NOUN
cuesj-1036	107	24	window	window	NOUN
cuesj-1036	107	25	.	.	PUNCT
cuesj-1036	108	1	to	to	PART
cuesj-1036	108	2	calculate	calculate	VERB
cuesj-1036	108	3	the	the	DET
cuesj-1036	108	4	difference	difference	NOUN
cuesj-1036	108	5	between	between	ADP
cuesj-1036	108	6	the	the	DET
cuesj-1036	108	7	summed	sum	VERB
cuesj-1036	108	8	findings	finding	NOUN
cuesj-1036	108	9	,	,	PUNCT
cuesj-1036	108	10	the	the	DET
cuesj-1036	108	11	pixel	pixel	PROPN
cuesj-1036	108	12	intensities	intensity	NOUN
cuesj-1036	108	13	in	in	ADP
cuesj-1036	108	14	each	each	DET
cuesj-1036	108	15	segment	segment	NOUN
cuesj-1036	108	16	must	must	AUX
cuesj-1036	108	17	first	first	ADV
cuesj-1036	108	18	be	be	AUX
cuesj-1036	108	19	added	add	VERB
cuesj-1036	108	20	together	together	ADV
cuesj-1036	108	21	.	.	PUNCT
cuesj-1036	109	1	edge	edge	NOUN
cuesj-1036	109	2	features	feature	NOUN
cuesj-1036	109	3	,	,	PUNCT
cuesj-1036	109	4	line	line	NOUN
cuesj-1036	109	5	features	feature	NOUN
cuesj-1036	109	6	,	,	PUNCT
cuesj-1036	109	7	and	and	CCONJ
cuesj-1036	109	8	four	four	NUM
cuesj-1036	109	9	-	-	PUNCT
cuesj-1036	109	10	rectangle	rectangle	NOUN
cuesj-1036	109	11	features	feature	NOUN
cuesj-1036	109	12	are	be	AUX
cuesj-1036	109	13	a	a	DET
cuesj-1036	109	14	few	few	ADJ
cuesj-1036	109	15	examples	example	NOUN
cuesj-1036	109	16	of	of	ADP
cuesj-1036	109	17	haar	haar	PROPN
cuesj-1036	109	18	features	feature	NOUN
cuesj-1036	109	19	.	.	PUNCT
cuesj-1036	110	1	because	because	SCONJ
cuesj-1036	110	2	there	there	PRON
cuesj-1036	110	3	are	be	VERB
cuesj-1036	110	4	fewer	few	ADJ
cuesj-1036	110	5	operations	operation	NOUN
cuesj-1036	110	6	required	require	VERB
cuesj-1036	110	7	,	,	PUNCT
cuesj-1036	110	8	an	an	DET
cuesj-1036	110	9	integral	integral	ADJ
cuesj-1036	110	10	image	image	NOUN
cuesj-1036	110	11	process	process	NOUN
cuesj-1036	110	12	is	be	AUX
cuesj-1036	110	13	required	require	VERB
cuesj-1036	110	14	because	because	SCONJ
cuesj-1036	110	15	this	this	DET
cuesj-1036	110	16	feature	feature	NOUN
cuesj-1036	110	17	will	will	AUX
cuesj-1036	110	18	have	have	VERB
cuesj-1036	110	19	issues	issue	NOUN
cuesj-1036	110	20	when	when	SCONJ
cuesj-1036	110	21	used	use	VERB
cuesj-1036	110	22	with	with	ADP
cuesj-1036	110	23	huge	huge	ADJ
cuesj-1036	110	24	images	image	NOUN
cuesj-1036	110	25	.	.	PUNCT
cuesj-1036	111	1	integral	integral	ADJ
cuesj-1036	111	2	images	image	NOUN
cuesj-1036	111	3	are	be	AUX
cuesj-1036	111	4	designed	design	VERB
cuesj-1036	111	5	to	to	PART
cuesj-1036	111	6	accelerate	accelerate	VERB
cuesj-1036	111	7	the	the	DET
cuesj-1036	111	8	computation	computation	NOUN
cuesj-1036	111	9	of	of	ADP
cuesj-1036	111	10	haar	haar	PROPN
cuesj-1036	111	11	features	feature	NOUN
cuesj-1036	111	12	.	.	PUNCT
cuesj-1036	112	1	overall	overall	ADV
cuesj-1036	112	2	,	,	PUNCT
cuesj-1036	112	3	an	an	DET
cuesj-1036	112	4	integral	integral	ADJ
cuesj-1036	112	5	image	image	NOUN
cuesj-1036	112	6	is	be	AUX
cuesj-1036	112	7	one	one	NUM
cuesj-1036	112	8	in	in	ADP
cuesj-1036	112	9	which	which	PRON
cuesj-1036	112	10	the	the	DET
cuesj-1036	112	11	values	value	NOUN
cuesj-1036	112	12	of	of	ADP
cuesj-1036	112	13	the	the	DET
cuesj-1036	112	14	top	top	ADV
cuesj-1036	112	15	-	-	PUNCT
cuesj-1036	112	16	left	left	ADJ
cuesj-1036	112	17	and	and	CCONJ
cuesj-1036	112	18	left	left	ADJ
cuesj-1036	112	19	-	-	PUNCT
cuesj-1036	112	20	most	most	ADJ
cuesj-1036	112	21	pixels	pixel	NOUN
cuesj-1036	112	22	are	be	AUX
cuesj-1036	112	23	added	add	VERB
cuesj-1036	112	24	together	together	ADV
cuesj-1036	112	25	to	to	PART
cuesj-1036	112	26	determine	determine	VERB
cuesj-1036	112	27	the	the	DET
cuesj-1036	112	28	value	value	NOUN
cuesj-1036	112	29	of	of	ADP
cuesj-1036	112	30	each	each	DET
cuesj-1036	112	31	individual	individual	ADJ
cuesj-1036	112	32	pixel	pixel	PROPN
cuesj-1036	112	33	.	.	PUNCT
cuesj-1036	113	1	it	it	PRON
cuesj-1036	113	2	should	should	AUX
cuesj-1036	113	3	be	be	AUX
cuesj-1036	113	4	observed	observe	VERB
cuesj-1036	113	5	that	that	SCONJ
cuesj-1036	113	6	practically	practically	ADV
cuesj-1036	113	7	every	every	DET
cuesj-1036	113	8	feature	feature	NOUN
cuesj-1036	113	9	employed	employ	VERB
cuesj-1036	113	10	performs	perform	VERB
cuesj-1036	113	11	poorly	poorly	ADV
cuesj-1036	113	12	when	when	SCONJ
cuesj-1036	113	13	trying	try	VERB
cuesj-1036	113	14	to	to	PART
cuesj-1036	113	15	recognize	recognize	VERB
cuesj-1036	113	16	things	thing	NOUN
cuesj-1036	113	17	.	.	PUNCT
cuesj-1036	114	1	therefore	therefore	ADV
cuesj-1036	114	2	,	,	PUNCT
cuesj-1036	114	3	to	to	PART
cuesj-1036	114	4	detect	detect	VERB
cuesj-1036	114	5	an	an	DET
cuesj-1036	114	6	object	object	NOUN
cuesj-1036	114	7	,	,	PUNCT
cuesj-1036	114	8	we	we	PRON
cuesj-1036	114	9	need	need	VERB
cuesj-1036	114	10	some	some	DET
cuesj-1036	114	11	features	feature	NOUN
cuesj-1036	114	12	that	that	PRON
cuesj-1036	114	13	match	match	VERB
cuesj-1036	114	14	it	it	PRON
cuesj-1036	114	15	.	.	PUNCT
cuesj-1036	115	1	the	the	DET
cuesj-1036	115	2	best	good	ADJ
cuesj-1036	115	3	haar	haar	NOUN
cuesj-1036	115	4	feature	feature	NOUN
cuesj-1036	115	5	to	to	PART
cuesj-1036	115	6	utilize	utilize	VERB
cuesj-1036	115	7	in	in	ADP
cuesj-1036	115	8	this	this	DET
cuesj-1036	115	9	situation	situation	NOUN
cuesj-1036	115	10	can	can	AUX
cuesj-1036	115	11	be	be	AUX
cuesj-1036	115	12	chosen	choose	VERB
cuesj-1036	115	13	by	by	ADP
cuesj-1036	115	14	using	use	VERB
cuesj-1036	115	15	adaboost	adaboost	ADV
cuesj-1036	115	16	.	.	PUNCT
cuesj-1036	116	1	by	by	ADP
cuesj-1036	116	2	combining	combine	VERB
cuesj-1036	116	3	a	a	DET
cuesj-1036	116	4	number	number	NOUN
cuesj-1036	116	5	of	of	ADP
cuesj-1036	116	6	small	small	ADJ
cuesj-1036	116	7	(	(	PUNCT
cuesj-1036	116	8	weak	weak	ADJ
cuesj-1036	116	9	)	)	PUNCT
cuesj-1036	116	10	classifiers	classifier	NOUN
cuesj-1036	116	11	,	,	PUNCT
cuesj-1036	116	12	the	the	DET
cuesj-1036	116	13	adaboost	adaboost	ADJ
cuesj-1036	116	14	algorithm	algorithm	NOUN
cuesj-1036	116	15	creates	create	VERB
cuesj-1036	116	16	powerful	powerful	ADJ
cuesj-1036	116	17	classifiers	classifier	NOUN
cuesj-1036	116	18	.	.	PUNCT
cuesj-1036	117	1	by	by	ADP
cuesj-1036	117	2	repositioning	reposition	VERB
cuesj-1036	117	3	the	the	DET
cuesj-1036	117	4	window	window	NOUN
cuesj-1036	117	5	over	over	ADP
cuesj-1036	117	6	the	the	DET
cuesj-1036	117	7	input	input	NOUN
cuesj-1036	117	8	image	image	NOUN
cuesj-1036	117	9	and	and	CCONJ
cuesj-1036	117	10	computing	compute	VERB
cuesj-1036	117	11	the	the	DET
cuesj-1036	117	12	haar	haar	NOUN
cuesj-1036	117	13	feature	feature	NOUN
cuesj-1036	117	14	for	for	ADP
cuesj-1036	117	15	each	each	DET
cuesj-1036	117	16	subsection	subsection	NOUN
cuesj-1036	117	17	,	,	PUNCT
cuesj-1036	117	18	weak	weak	ADJ
cuesj-1036	117	19	classification	classification	NOUN
cuesj-1036	117	20	results	result	NOUN
cuesj-1036	117	21	are	be	AUX
cuesj-1036	117	22	produced	produce	VERB
cuesj-1036	117	23	.	.	PUNCT
cuesj-1036	118	1	this	this	DET
cuesj-1036	118	2	variation	variation	NOUN
cuesj-1036	118	3	is	be	AUX
cuesj-1036	118	4	contrasted	contrast	VERB
cuesj-1036	118	5	with	with	ADP
cuesj-1036	118	6	the	the	DET
cuesj-1036	118	7	researched	research	VERB
cuesj-1036	118	8	threshold	threshold	NOUN
cuesj-1036	118	9	that	that	PRON
cuesj-1036	118	10	distinguishes	distinguish	VERB
cuesj-1036	118	11	objects	object	NOUN
cuesj-1036	118	12	from	from	ADP
cuesj-1036	118	13	non	non	ADJ
cuesj-1036	118	14	-	-	NOUN
cuesj-1036	118	15	objects	object	NOUN
cuesj-1036	118	16	.	.	PUNCT
cuesj-1036	119	1	numerous	numerous	ADJ
cuesj-1036	119	2	haar	haar	PROPN
cuesj-1036	119	3	features	feature	NOUN
cuesj-1036	119	4	are	be	AUX
cuesj-1036	119	5	needed	need	VERB
cuesj-1036	119	6	to	to	PART
cuesj-1036	119	7	create	create	VERB
cuesj-1036	119	8	a	a	DET
cuesj-1036	119	9	strong	strong	ADJ
cuesj-1036	119	10	classifier	classifier	NOUN
cuesj-1036	119	11	because	because	SCONJ
cuesj-1036	119	12	this	this	PRON
cuesj-1036	119	13	is	be	AUX
cuesj-1036	119	14	a	a	DET
cuesj-1036	119	15	“	"	PUNCT
cuesj-1036	119	16	weak	weak	ADJ
cuesj-1036	119	17	classifier	classifier	NOUN
cuesj-1036	119	18	”	"	PUNCT
cuesj-1036	119	19	in	in	ADP
cuesj-1036	119	20	terms	term	NOUN
cuesj-1036	119	21	of	of	ADP
cuesj-1036	119	22	accuracy	accuracy	NOUN
cuesj-1036	119	23	.	.	PUNCT
cuesj-1036	120	1	the	the	DET
cuesj-1036	120	2	haar	haar	NOUN
cuesj-1036	120	3	cascade	cascade	NOUN
cuesj-1036	120	4	method	method	NOUN
cuesj-1036	120	5	combines	combine	VERB
cuesj-1036	120	6	cascades	cascade	NOUN
cuesj-1036	120	7	of	of	ADP
cuesj-1036	120	8	classifiers	classifier	NOUN
cuesj-1036	120	9	to	to	PART
cuesj-1036	120	10	increase	increase	VERB
cuesj-1036	120	11	detection	detection	NOUN
cuesj-1036	120	12	speed	speed	NOUN
cuesj-1036	120	13	by	by	ADP
cuesj-1036	120	14	focusing	focus	VERB
cuesj-1036	120	15	on	on	ADP
cuesj-1036	120	16	likely	likely	ADJ
cuesj-1036	120	17	areas	area	NOUN
cuesj-1036	120	18	in	in	ADP
cuesj-1036	120	19	an	an	DET
cuesj-1036	120	20	image	image	NOUN
cuesj-1036	120	21	.	.	PUNCT
cuesj-1036	121	1	the	the	DET
cuesj-1036	121	2	algorithm	algorithm	NOUN
cuesj-1036	121	3	consists	consist	VERB
cuesj-1036	121	4	of	of	ADP
cuesj-1036	121	5	three	three	NUM
cuesj-1036	121	6	levels	level	NOUN
cuesj-1036	121	7	,	,	PUNCT
cuesj-1036	121	8	each	each	PRON
cuesj-1036	121	9	producing	produce	VERB
cuesj-1036	121	10	a	a	DET
cuesj-1036	121	11	sub	sub	NOUN
cuesj-1036	121	12	-	-	ADJ
cuesj-1036	121	13	image	image	NOUN
cuesj-1036	121	14	believed	believe	VERB
cuesj-1036	121	15	to	to	PART
cuesj-1036	121	16	be	be	AUX
cuesj-1036	121	17	unrelated	unrelated	ADJ
cuesj-1036	121	18	to	to	ADP
cuesj-1036	121	19	the	the	DET
cuesj-1036	121	20	object	object	NOUN
cuesj-1036	121	21	being	be	AUX
cuesj-1036	121	22	detected	detect	VERB
cuesj-1036	121	23	,	,	PUNCT
cuesj-1036	121	24	making	make	VERB
cuesj-1036	121	25	it	it	PRON
cuesj-1036	121	26	easier	easy	ADJ
cuesj-1036	121	27	to	to	PART
cuesj-1036	121	28	distinguish	distinguish	VERB
cuesj-1036	121	29	between	between	ADP
cuesj-1036	121	30	them	they	PRON
cuesj-1036	121	31	.	.	PUNCT
cuesj-1036	122	1	figure	figure	VERB
cuesj-1036	122	2	2	2	NUM
cuesj-1036	122	3	simplifies	simplifie	NOUN
cuesj-1036	122	4	the	the	DET
cuesj-1036	122	5	haar	haar	PROPN
cuesj-1036	122	6	algorithm	algorithm	PROPN
cuesj-1036	122	7	process.[14	process.[14	PROPN
cuesj-1036	122	8	-	-	PROPN
cuesj-1036	122	9	16	16	NUM
cuesj-1036	122	10	]	]	PUNCT
cuesj-1036	122	11	the	the	DET
cuesj-1036	122	12	ideal	ideal	ADJ
cuesj-1036	122	13	method	method	NOUN
cuesj-1036	122	14	for	for	ADP
cuesj-1036	122	15	tracking	track	VERB
cuesj-1036	122	16	the	the	DET
cuesj-1036	122	17	front	front	ADJ
cuesj-1036	122	18	face	face	NOUN
cuesj-1036	122	19	is	be	AUX
cuesj-1036	122	20	to	to	PART
cuesj-1036	122	21	use	use	VERB
cuesj-1036	122	22	the	the	DET
cuesj-1036	122	23	djitellopy	djitellopy	ADJ
cuesj-1036	122	24	package	package	NOUN
cuesj-1036	122	25	,	,	PUNCT
cuesj-1036	122	26	which	which	PRON
cuesj-1036	122	27	was	be	AUX
cuesj-1036	122	28	built	build	VERB
cuesj-1036	122	29	in	in	ADP
cuesj-1036	122	30	python	python	NOUN
cuesj-1036	122	31	by	by	ADP
cuesj-1036	122	32	damià	damià	NOUN
cuesj-1036	122	33	fuentes	fuente	NOUN
cuesj-1036	122	34	.	.	PUNCT
cuesj-1036	123	1	let	let	VERB
cuesj-1036	123	2	’s	’s	PRON
cuesj-1036	123	3	start	start	VERB
cuesj-1036	123	4	with	with	ADP
cuesj-1036	123	5	the	the	DET
cuesj-1036	123	6	basics	basic	NOUN
cuesj-1036	123	7	:	:	PUNCT
cuesj-1036	123	8	when	when	SCONJ
cuesj-1036	123	9	we	we	PRON
cuesj-1036	123	10	want	want	VERB
cuesj-1036	123	11	to	to	PART
cuesj-1036	123	12	move	move	VERB
cuesj-1036	123	13	the	the	DET
cuesj-1036	123	14	drone	drone	NOUN
cuesj-1036	123	15	and	and	CCONJ
cuesj-1036	123	16	follow	follow	VERB
cuesj-1036	123	17	our	our	PRON
cuesj-1036	123	18	face	face	NOUN
cuesj-1036	123	19	,	,	PUNCT
cuesj-1036	123	20	we	we	PRON
cuesj-1036	123	21	need	need	VERB
cuesj-1036	123	22	two	two	NUM
cuesj-1036	123	23	things	thing	NOUN
cuesj-1036	123	24	:	:	PUNCT
cuesj-1036	123	25	forward	forward	ADV
cuesj-1036	123	26	and	and	CCONJ
cuesj-1036	123	27	backward	backward	ADJ
cuesj-1036	123	28	motion	motion	NOUN
cuesj-1036	123	29	,	,	PUNCT
cuesj-1036	123	30	as	as	ADV
cuesj-1036	123	31	well	well	ADV
cuesj-1036	123	32	as	as	ADP
cuesj-1036	123	33	rotational	rotational	ADJ
cuesj-1036	123	34	motion	motion	NOUN
cuesj-1036	123	35	.	.	PUNCT
cuesj-1036	124	1	the	the	DET
cuesj-1036	124	2	concept	concept	NOUN
cuesj-1036	124	3	of	of	ADP
cuesj-1036	124	4	forward	forward	ADV
cuesj-1036	124	5	and	and	CCONJ
cuesj-1036	124	6	backward	backward	ADJ
cuesj-1036	124	7	is	be	AUX
cuesj-1036	124	8	like	like	ADP
cuesj-1036	124	9	that	that	PRON
cuesj-1036	124	10	:	:	PUNCT
cuesj-1036	124	11	abdallah	abdallah	PROPN
cuesj-1036	124	12	:	:	PUNCT
cuesj-1036	124	13	dji	dji	PROPN
cuesj-1036	124	14	tello	tello	PROPN
cuesj-1036	124	15	quad	quad	PROPN
cuesj-1036	124	16	:	:	PUNCT
cuesj-1036	124	17	face	face	NOUN
cuesj-1036	124	18	-	-	PUNCT
cuesj-1036	124	19	following	follow	VERB
cuesj-1036	124	20	system	system	NOUN
cuesj-1036	124	21	with	with	ADP
cuesj-1036	124	22	haar	haar	NOUN
cuesj-1036	124	23	cascade	cascade	NOUN
cuesj-1036	124	24	and	and	CCONJ
cuesj-1036	124	25	pid	pid	NOUN
cuesj-1036	124	26	control	control	NOUN
cuesj-1036	124	27	57	57	NUM
cuesj-1036	124	28	http://journals.cihanuniversity.edu.iq/index.php/cuesj	http://journals.cihanuniversity.edu.iq/index.php/cuesj	ADJ
cuesj-1036	124	29	cuesj	cuesj	NOUN
cuesj-1036	124	30	2023	2023	NUM
cuesj-1036	124	31	,	,	PUNCT
cuesj-1036	124	32	7	7	NUM
cuesj-1036	124	33	(	(	PUNCT
cuesj-1036	124	34	2	2	NUM
cuesj-1036	124	35	):	):	PUNCT
cuesj-1036	124	36	54	54	NUM
cuesj-1036	124	37	-	-	SYM
cuesj-1036	124	38	59	59	NUM
cuesj-1036	124	39	1	1	NUM
cuesj-1036	124	40	.	.	PUNCT
cuesj-1036	125	1	if	if	SCONJ
cuesj-1036	125	2	the	the	DET
cuesj-1036	125	3	face	face	NOUN
cuesj-1036	125	4	looking	look	VERB
cuesj-1036	125	5	small	small	ADJ
cuesj-1036	125	6	,	,	PUNCT
cuesj-1036	125	7	so	so	CCONJ
cuesj-1036	125	8	it	it	PRON
cuesj-1036	125	9	is	be	AUX
cuesj-1036	125	10	mean	mean	ADJ
cuesj-1036	125	11	we	we	PRON
cuesj-1036	125	12	need	need	VERB
cuesj-1036	125	13	to	to	PART
cuesj-1036	125	14	move	move	VERB
cuesj-1036	125	15	forward	forward	ADV
cuesj-1036	125	16	.	.	PUNCT
cuesj-1036	126	1	2	2	X
cuesj-1036	126	2	.	.	X
cuesj-1036	126	3	if	if	SCONJ
cuesj-1036	126	4	the	the	DET
cuesj-1036	126	5	face	face	NOUN
cuesj-1036	126	6	looking	look	VERB
cuesj-1036	126	7	quit	quit	VERB
cuesj-1036	126	8	big	big	ADJ
cuesj-1036	126	9	,	,	PUNCT
cuesj-1036	126	10	it	it	PRON
cuesj-1036	126	11	is	be	AUX
cuesj-1036	126	12	mean	mean	ADJ
cuesj-1036	126	13	we	we	PRON
cuesj-1036	126	14	need	need	VERB
cuesj-1036	126	15	to	to	PART
cuesj-1036	126	16	backward	backward	VERB
cuesj-1036	126	17	.	.	PUNCT
cuesj-1036	127	1	let	let	VERB
cuesj-1036	127	2	us	we	PRON
cuesj-1036	127	3	take	take	VERB
cuesj-1036	127	4	a	a	DET
cuesj-1036	127	5	look	look	NOUN
cuesj-1036	127	6	on	on	ADP
cuesj-1036	127	7	figure	figure	NOUN
cuesj-1036	127	8	3	3	NUM
cuesj-1036	127	9	,	,	PUNCT
cuesj-1036	127	10	in	in	ADP
cuesj-1036	127	11	figure	figure	NOUN
cuesj-1036	127	12	2	2	NUM
cuesj-1036	127	13	,	,	PUNCT
cuesj-1036	127	14	the	the	DET
cuesj-1036	127	15	area	area	NOUN
cuesj-1036	127	16	(	(	PUNCT
cuesj-1036	127	17	a	a	X
cuesj-1036	127	18	)	)	PUNCT
cuesj-1036	127	19	is	be	AUX
cuesj-1036	127	20	too	too	ADV
cuesj-1036	127	21	far	far	ADV
cuesj-1036	127	22	and	and	CCONJ
cuesj-1036	127	23	the	the	DET
cuesj-1036	127	24	area	area	NOUN
cuesj-1036	127	25	(	(	PUNCT
cuesj-1036	127	26	c	c	X
cuesj-1036	127	27	)	)	PUNCT
cuesj-1036	127	28	is	be	AUX
cuesj-1036	127	29	too	too	ADV
cuesj-1036	127	30	close	close	ADJ
cuesj-1036	127	31	,	,	PUNCT
cuesj-1036	127	32	the	the	DET
cuesj-1036	127	33	red	red	ADJ
cuesj-1036	127	34	area	area	NOUN
cuesj-1036	127	35	which	which	PRON
cuesj-1036	127	36	is	be	AUX
cuesj-1036	127	37	(	(	PUNCT
cuesj-1036	127	38	b	b	NOUN
cuesj-1036	127	39	)	)	PUNCT
cuesj-1036	127	40	is	be	AUX
cuesj-1036	127	41	the	the	DET
cuesj-1036	127	42	area	area	NOUN
cuesj-1036	127	43	that	that	PRON
cuesj-1036	127	44	the	the	DET
cuesj-1036	127	45	drone	drone	NOUN
cuesj-1036	127	46	will	will	AUX
cuesj-1036	127	47	never	never	ADV
cuesj-1036	127	48	move	move	VERB
cuesj-1036	127	49	to	to	ADP
cuesj-1036	127	50	it	it	PRON
cuesj-1036	127	51	,	,	PUNCT
cuesj-1036	127	52	the	the	DET
cuesj-1036	127	53	person	person	NOUN
cuesj-1036	127	54	must	must	AUX
cuesj-1036	127	55	be	be	AUX
cuesj-1036	127	56	in	in	ADP
cuesj-1036	127	57	this	this	DET
cuesj-1036	127	58	red	red	ADJ
cuesj-1036	127	59	area	area	NOUN
cuesj-1036	127	60	,	,	PUNCT
cuesj-1036	127	61	otherwise	otherwise	ADV
cuesj-1036	127	62	the	the	DET
cuesj-1036	127	63	drone	drone	NOUN
cuesj-1036	127	64	can	can	AUX
cuesj-1036	127	65	not	not	PART
cuesj-1036	127	66	detect	detect	VERB
cuesj-1036	127	67	the	the	DET
cuesj-1036	127	68	face	face	NOUN
cuesj-1036	127	69	.	.	PUNCT
cuesj-1036	128	1	use	use	NOUN
cuesj-1036	128	2	if	if	SCONJ
cuesj-1036	128	3	the	the	DET
cuesj-1036	128	4	person	person	NOUN
cuesj-1036	128	5	moves	move	VERB
cuesj-1036	128	6	to	to	PART
cuesj-1036	128	7	zone	zone	VERB
cuesj-1036	128	8	a	a	DET
cuesj-1036	128	9	(	(	PUNCT
cuesj-1036	128	10	backward	backward	PROPN
cuesj-1036	128	11	)	)	PUNCT
cuesj-1036	128	12	,	,	PUNCT
cuesj-1036	128	13	the	the	DET
cuesj-1036	128	14	drone	drone	NOUN
cuesj-1036	128	15	will	will	AUX
cuesj-1036	128	16	begin	begin	VERB
cuesj-1036	128	17	moving	move	VERB
cuesj-1036	128	18	and	and	CCONJ
cuesj-1036	128	19	counting	count	VERB
cuesj-1036	128	20	the	the	DET
cuesj-1036	128	21	movements	movement	NOUN
cuesj-1036	128	22	;	;	PUNCT
cuesj-1036	128	23	the	the	DET
cuesj-1036	128	24	drone	drone	NOUN
cuesj-1036	128	25	will	will	AUX
cuesj-1036	128	26	then	then	ADV
cuesj-1036	128	27	compensate	compensate	VERB
cuesj-1036	128	28	and	and	CCONJ
cuesj-1036	128	29	move	move	VERB
cuesj-1036	128	30	forward	forward	ADV
cuesj-1036	128	31	until	until	SCONJ
cuesj-1036	128	32	it	it	PRON
cuesj-1036	128	33	reaches	reach	VERB
cuesj-1036	128	34	the	the	DET
cuesj-1036	128	35	red	red	ADJ
cuesj-1036	128	36	zone	zone	NOUN
cuesj-1036	128	37	;	;	PUNCT
cuesj-1036	128	38	if	if	SCONJ
cuesj-1036	128	39	the	the	DET
cuesj-1036	128	40	person	person	NOUN
cuesj-1036	128	41	moves	move	VERB
cuesj-1036	128	42	forward	forward	ADV
cuesj-1036	128	43	,	,	PUNCT
cuesj-1036	128	44	the	the	DET
cuesj-1036	128	45	drone	drone	NOUN
cuesj-1036	128	46	will	will	AUX
cuesj-1036	128	47	begin	begin	VERB
cuesj-1036	128	48	moving	move	VERB
cuesj-1036	128	49	backward	backward	ADV
cuesj-1036	128	50	and	and	CCONJ
cuesj-1036	128	51	counting	count	VERB
cuesj-1036	128	52	the	the	DET
cuesj-1036	128	53	movements	movement	NOUN
cuesj-1036	128	54	;	;	PUNCT
cuesj-1036	128	55	the	the	DET
cuesj-1036	128	56	drone	drone	NOUN
cuesj-1036	128	57	will	will	AUX
cuesj-1036	128	58	then	then	ADV
cuesj-1036	128	59	compensate	compensate	VERB
cuesj-1036	128	60	and	and	CCONJ
cuesj-1036	128	61	move	move	VERB
cuesj-1036	128	62	forward	forward	ADV
cuesj-1036	128	63	until	until	SCONJ
cuesj-1036	128	64	it	it	PRON
cuesj-1036	128	65	reaches	reach	VERB
cuesj-1036	128	66	the	the	DET
cuesj-1036	128	67	red	red	ADJ
cuesj-1036	128	68	zone	zone	NOUN
cuesj-1036	128	69	;	;	PUNCT
cuesj-1036	128	70	if	if	SCONJ
cuesj-1036	128	71	the	the	DET
cuesj-1036	128	72	person	person	NOUN
cuesj-1036	128	73	moves	move	VERB
cuesj-1036	128	74	forward	forward	ADV
cuesj-1036	128	75	,	,	PUNCT
cuesj-1036	128	76	the	the	DET
cuesj-1036	128	77	drone	drone	NOUN
cuesj-1036	128	78	will	will	AUX
cuesj-1036	128	79	begin	begin	VERB
cuesj-1036	128	80	moving	move	VERB
cuesj-1036	128	81	backward	backward	ADV
cuesj-1036	128	82	and	and	CCONJ
cuesj-1036	128	83	counting	count	VERB
cuesj-1036	128	84	the	the	DET
cuesj-1036	128	85	movements	movement	NOUN
cuesj-1036	128	86	;	;	PUNCT
cuesj-1036	128	87	the	the	DET
cuesj-1036	128	88	drone	drone	NOUN
cuesj-1036	128	89	will	will	AUX
cuesj-1036	128	90	then	then	ADV
cuesj-1036	128	91	stop	stop	VERB
cuesj-1036	128	92	until	until	SCONJ
cuesj-1036	128	93	it	it	PRON
cuesj-1036	128	94	reaches	reach	VERB
cuesj-1036	128	95	the	the	DET
cuesj-1036	128	96	red	red	ADJ
cuesj-1036	128	97	zone	zone	NOUN
cuesj-1036	128	98	.	.	PUNCT
cuesj-1036	129	1	then	then	ADV
cuesj-1036	129	2	consider	consider	VERB
cuesj-1036	129	3	the	the	DET
cuesj-1036	129	4	concept	concept	NOUN
cuesj-1036	129	5	of	of	ADP
cuesj-1036	129	6	rotation	rotation	NOUN
cuesj-1036	129	7	:	:	PUNCT
cuesj-1036	129	8	if	if	SCONJ
cuesj-1036	129	9	the	the	DET
cuesj-1036	129	10	person	person	NOUN
cuesj-1036	129	11	begins	begin	VERB
cuesj-1036	129	12	to	to	PART
cuesj-1036	129	13	rotate	rotate	VERB
cuesj-1036	129	14	,	,	PUNCT
cuesj-1036	129	15	the	the	DET
cuesj-1036	129	16	goal	goal	NOUN
cuesj-1036	129	17	is	be	AUX
cuesj-1036	129	18	for	for	SCONJ
cuesj-1036	129	19	the	the	DET
cuesj-1036	129	20	person	person	NOUN
cuesj-1036	129	21	to	to	PART
cuesj-1036	129	22	always	always	ADV
cuesj-1036	129	23	be	be	AUX
cuesj-1036	129	24	in	in	ADP
cuesj-1036	129	25	the	the	DET
cuesj-1036	129	26	center	center	NOUN
cuesj-1036	129	27	of	of	ADP
cuesj-1036	129	28	the	the	DET
cuesj-1036	129	29	image	image	NOUN
cuesj-1036	129	30	,	,	PUNCT
cuesj-1036	129	31	as	as	SCONJ
cuesj-1036	129	32	shown	show	VERB
cuesj-1036	129	33	in	in	ADP
cuesj-1036	129	34	figure	figure	NOUN
cuesj-1036	129	35	4	4	NUM
cuesj-1036	129	36	,	,	PUNCT
cuesj-1036	129	37	the	the	DET
cuesj-1036	129	38	person	person	NOUN
cuesj-1036	129	39	begins	begin	VERB
cuesj-1036	129	40	to	to	PART
cuesj-1036	129	41	rotate	rotate	VERB
cuesj-1036	129	42	,	,	PUNCT
cuesj-1036	129	43	therefore	therefore	ADV
cuesj-1036	129	44	,	,	PUNCT
cuesj-1036	129	45	the	the	DET
cuesj-1036	129	46	idea	idea	NOUN
cuesj-1036	129	47	is	be	AUX
cuesj-1036	129	48	that	that	SCONJ
cuesj-1036	129	49	the	the	DET
cuesj-1036	129	50	drone	drone	NOUN
cuesj-1036	129	51	will	will	AUX
cuesj-1036	129	52	begin	begin	VERB
cuesj-1036	129	53	to	to	PART
cuesj-1036	129	54	rotate	rotate	VERB
cuesj-1036	129	55	to	to	ADP
cuesj-1036	129	56	the	the	DET
cuesj-1036	129	57	left	left	NOUN
cuesj-1036	129	58	until	until	SCONJ
cuesj-1036	129	59	the	the	DET
cuesj-1036	129	60	person	person	NOUN
cuesj-1036	129	61	reaches	reach	VERB
cuesj-1036	129	62	the	the	DET
cuesj-1036	129	63	center	center	NOUN
cuesj-1036	129	64	.	.	PUNCT
cuesj-1036	130	1	the	the	DET
cuesj-1036	130	2	drone	drone	NOUN
cuesj-1036	130	3	will	will	AUX
cuesj-1036	130	4	start	start	VERB
cuesj-1036	130	5	rotating	rotate	VERB
cuesj-1036	130	6	to	to	ADP
cuesj-1036	130	7	the	the	DET
cuesj-1036	130	8	left	left	NOUN
cuesj-1036	130	9	as	as	SCONJ
cuesj-1036	130	10	shown	show	VERB
cuesj-1036	130	11	in	in	ADP
cuesj-1036	130	12	the	the	DET
cuesj-1036	130	13	figure	figure	NOUN
cuesj-1036	130	14	5	5	NUM
cuesj-1036	130	15	until	until	SCONJ
cuesj-1036	130	16	the	the	DET
cuesj-1036	130	17	person	person	NOUN
cuesj-1036	130	18	is	be	AUX
cuesj-1036	130	19	located	locate	VERB
cuesj-1036	130	20	in	in	ADP
cuesj-1036	130	21	the	the	DET
cuesj-1036	130	22	middle	middle	NOUN
cuesj-1036	130	23	.	.	PUNCT
cuesj-1036	131	1	however	however	ADV
cuesj-1036	131	2	,	,	PUNCT
cuesj-1036	131	3	there	there	PRON
cuesj-1036	131	4	is	be	VERB
cuesj-1036	131	5	a	a	DET
cuesj-1036	131	6	problem	problem	NOUN
cuesj-1036	131	7	here	here	ADV
cuesj-1036	131	8	,	,	PUNCT
cuesj-1036	131	9	for	for	ADP
cuesj-1036	131	10	example	example	NOUN
cuesj-1036	131	11	,	,	PUNCT
cuesj-1036	131	12	if	if	SCONJ
cuesj-1036	131	13	the	the	DET
cuesj-1036	131	14	drone	drone	NOUN
cuesj-1036	131	15	rotates	rotate	VERB
cuesj-1036	131	16	at	at	ADP
cuesj-1036	131	17	20	20	NUM
cuesj-1036	131	18	cm	cm	NOUN
cuesj-1036	131	19	/	/	SYM
cuesj-1036	131	20	s	s	VERB
cuesj-1036	131	21	to	to	PART
cuesj-1036	131	22	reach	reach	VERB
cuesj-1036	131	23	the	the	DET
cuesj-1036	131	24	destination	destination	NOUN
cuesj-1036	131	25	,	,	PUNCT
cuesj-1036	131	26	the	the	DET
cuesj-1036	131	27	problem	problem	NOUN
cuesj-1036	131	28	is	be	AUX
cuesj-1036	131	29	that	that	SCONJ
cuesj-1036	131	30	the	the	DET
cuesj-1036	131	31	drone	drone	NOUN
cuesj-1036	131	32	can	can	AUX
cuesj-1036	131	33	not	not	PART
cuesj-1036	131	34	stop	stop	VERB
cuesj-1036	131	35	right	right	ADV
cuesj-1036	131	36	away	away	ADV
cuesj-1036	131	37	,	,	PUNCT
cuesj-1036	131	38	the	the	DET
cuesj-1036	131	39	momentum	momentum	NOUN
cuesj-1036	131	40	will	will	AUX
cuesj-1036	131	41	cause	cause	VERB
cuesj-1036	131	42	move	move	VERB
cuesj-1036	131	43	a	a	DET
cuesj-1036	131	44	little	little	ADJ
cuesj-1036	131	45	bit	bit	NOUN
cuesj-1036	131	46	to	to	ADP
cuesj-1036	131	47	forward	forward	ADV
cuesj-1036	131	48	,	,	PUNCT
cuesj-1036	131	49	picture	picture	VERB
cuesj-1036	131	50	a	a	DET
cuesj-1036	131	51	fan	fan	NOUN
cuesj-1036	131	52	,	,	PUNCT
cuesj-1036	131	53	if	if	SCONJ
cuesj-1036	131	54	you	you	PRON
cuesj-1036	131	55	turn	turn	VERB
cuesj-1036	131	56	off	off	ADP
cuesj-1036	131	57	the	the	DET
cuesj-1036	131	58	fan	fan	NOUN
cuesj-1036	131	59	,	,	PUNCT
cuesj-1036	131	60	it	it	PRON
cuesj-1036	131	61	will	will	AUX
cuesj-1036	131	62	keep	keep	VERB
cuesj-1036	131	63	rotating	rotate	VERB
cuesj-1036	131	64	and	and	CCONJ
cuesj-1036	131	65	eventually	eventually	ADV
cuesj-1036	131	66	stop	stop	VERB
cuesj-1036	131	67	,	,	PUNCT
cuesj-1036	131	68	the	the	DET
cuesj-1036	131	69	same	same	ADJ
cuesj-1036	131	70	thing	thing	NOUN
cuesj-1036	131	71	will	will	AUX
cuesj-1036	131	72	happen	happen	VERB
cuesj-1036	131	73	with	with	ADP
cuesj-1036	131	74	the	the	DET
cuesj-1036	131	75	tello	tello	NOUN
cuesj-1036	131	76	,	,	PUNCT
cuesj-1036	131	77	this	this	PRON
cuesj-1036	131	78	is	be	AUX
cuesj-1036	131	79	called	call	VERB
cuesj-1036	131	80	overshoot	overshoot	NOUN
cuesj-1036	131	81	.	.	PUNCT
cuesj-1036	132	1	we	we	PRON
cuesj-1036	132	2	can	can	AUX
cuesj-1036	132	3	address	address	VERB
cuesj-1036	132	4	this	this	DET
cuesj-1036	132	5	problem	problem	NOUN
cuesj-1036	132	6	by	by	ADP
cuesj-1036	132	7	reducing	reduce	VERB
cuesj-1036	132	8	the	the	DET
cuesj-1036	132	9	speed	speed	NOUN
cuesj-1036	132	10	when	when	SCONJ
cuesj-1036	132	11	tello	tello	PROPN
cuesj-1036	132	12	reaches	reach	VERB
cuesj-1036	132	13	the	the	DET
cuesj-1036	132	14	goal	goal	NOUN
cuesj-1036	132	15	;	;	PUNCT
cuesj-1036	132	16	once	once	SCONJ
cuesj-1036	132	17	we	we	PRON
cuesj-1036	132	18	get	get	VERB
cuesj-1036	132	19	close	close	ADJ
cuesj-1036	132	20	to	to	ADP
cuesj-1036	132	21	the	the	DET
cuesj-1036	132	22	destination	destination	NOUN
cuesj-1036	132	23	,	,	PUNCT
cuesj-1036	132	24	the	the	DET
cuesj-1036	132	25	tello	tello	PROPN
cuesj-1036	132	26	’s	’s	PART
cuesj-1036	132	27	speed	speed	NOUN
cuesj-1036	132	28	will	will	AUX
cuesj-1036	132	29	drop	drop	VERB
cuesj-1036	132	30	to	to	ADP
cuesj-1036	132	31	10cm	10cm	NUM
cuesj-1036	132	32	/	/	SYM
cuesj-1036	132	33	s	s	NOUN
cuesj-1036	132	34	,	,	PUNCT
cuesj-1036	132	35	then	then	ADV
cuesj-1036	132	36	5cm	5cm	PROPN
cuesj-1036	132	37	/	/	SYM
cuesj-1036	132	38	s	s	PROPN
cuesj-1036	132	39	,	,	PUNCT
cuesj-1036	132	40	and	and	CCONJ
cuesj-1036	132	41	finally	finally	ADV
cuesj-1036	132	42	0cm	0cm	NOUN
cuesj-1036	132	43	/	/	SYM
cuesj-1036	133	1	s	s	PROPN
cuesj-1036	133	2	;	;	PUNCT
cuesj-1036	133	3	the	the	DET
cuesj-1036	133	4	person	person	NOUN
cuesj-1036	133	5	will	will	AUX
cuesj-1036	133	6	be	be	AUX
cuesj-1036	133	7	in	in	ADP
cuesj-1036	133	8	the	the	DET
cuesj-1036	133	9	center	center	NOUN
cuesj-1036	133	10	,	,	PUNCT
cuesj-1036	133	11	and	and	CCONJ
cuesj-1036	133	12	all	all	PRON
cuesj-1036	133	13	will	will	AUX
cuesj-1036	133	14	be	be	AUX
cuesj-1036	133	15	well	well	ADJ
cuesj-1036	133	16	.	.	PUNCT
cuesj-1036	134	1	pid	pid	NOUN
cuesj-1036	134	2	is	be	AUX
cuesj-1036	134	3	the	the	DET
cuesj-1036	134	4	name	name	NOUN
cuesj-1036	134	5	for	for	ADP
cuesj-1036	134	6	this	this	DET
cuesj-1036	134	7	approach	approach	NOUN
cuesj-1036	134	8	.	.	PUNCT
cuesj-1036	135	1	pid	pid	PROPN
cuesj-1036	135	2	was	be	AUX
cuesj-1036	135	3	utilized	utilize	VERB
cuesj-1036	135	4	to	to	PART
cuesj-1036	135	5	reduce	reduce	VERB
cuesj-1036	135	6	overshooting	overshoot	VERB
cuesj-1036	135	7	in	in	ADP
cuesj-1036	135	8	this	this	DET
cuesj-1036	135	9	case.[17,18	case.[17,18	NOUN
cuesj-1036	135	10	]	]	PUNCT
cuesj-1036	135	11	the	the	DET
cuesj-1036	135	12	following	follow	VERB
cuesj-1036	135	13	(	(	PUNCT
cuesj-1036	135	14	1	1	X
cuesj-1036	135	15	)	)	PUNCT
cuesj-1036	135	16	defines	define	VERB
cuesj-1036	135	17	proportional	proportional	ADJ
cuesj-1036	135	18	-	-	PUNCT
cuesj-1036	135	19	integral	integral	ADJ
cuesj-1036	135	20	-	-	PUNCT
cuesj-1036	135	21	derivative	derivative	NOUN
cuesj-1036	135	22	:	:	PUNCT
cuesj-1036	135	23	(	(	PUNCT
cuesj-1036	135	24	)	)	PUNCT
cuesj-1036	135	25	=	=	PUNCT
cuesj-1036	136	1	+	+	PUNCT
cuesj-1036	137	1	+	+	PUNCT
cuesj-1036	137	2	=	=	SYM
cuesj-1036	138	1	+	+	CCONJ
cuesj-1036	138	2	+	+	NUM
cuesj-1036	138	3	∫	∫	PROPN
cuesj-1036	138	4	1	1	NUM
cuesj-1036	138	5	0	0	NUM
cuesj-1036	138	6	(	(	PUNCT
cuesj-1036	138	7	)	)	PUNCT
cuesj-1036	138	8	*	*	PUNCT
cuesj-1036	138	9	*	*	PUNCT
cuesj-1036	138	10	de	de	PROPN
cuesj-1036	138	11	t	t	PROPN
cuesj-1036	138	12	u	u	NOUN
cuesj-1036	138	13	t	t	X
cuesj-1036	138	14	p	p	X
cuesj-1036	139	1	i	i	PRON
cuesj-1036	139	2	d	d	VERB
cuesj-1036	139	3	kp	kp	PROPN
cuesj-1036	139	4	err	err	VERB
cuesj-1036	139	5	ki	ki	PROPN
cuesj-1036	139	6	err	err	VERB
cuesj-1036	139	7	dt	dt	PUNCT
cuesj-1036	139	8	kd	kd	PROPN
cuesj-1036	139	9	dt	dt	PROPN
cuesj-1036	139	10	(	(	PUNCT
cuesj-1036	139	11	1	1	NUM
cuesj-1036	139	12	)	)	PUNCT
cuesj-1036	139	13	1	1	NUM
cuesj-1036	139	14	.	.	PUNCT
cuesj-1036	140	1	the	the	DET
cuesj-1036	140	2	disparity	disparity	NOUN
cuesj-1036	140	3	among	among	ADP
cuesj-1036	140	4	the	the	DET
cuesj-1036	140	5	set	set	NOUN
cuesj-1036	140	6	point	point	NOUN
cuesj-1036	140	7	and	and	CCONJ
cuesj-1036	140	8	the	the	DET
cuesj-1036	140	9	process	process	NOUN
cuesj-1036	140	10	variable	variable	NOUN
cuesj-1036	140	11	determines	determine	VERB
cuesj-1036	140	12	the	the	DET
cuesj-1036	140	13	proportional	proportional	ADJ
cuesj-1036	140	14	component	component	NOUN
cuesj-1036	140	15	.	.	PUNCT
cuesj-1036	141	1	enhancing	enhance	VERB
cuesj-1036	141	2	the	the	DET
cuesj-1036	141	3	proportion	proportion	NOUN
cuesj-1036	141	4	will	will	AUX
cuesj-1036	141	5	often	often	ADV
cuesj-1036	141	6	quicken	quicken	VERB
cuesj-1036	141	7	the	the	DET
cuesj-1036	141	8	response	response	NOUN
cuesj-1036	141	9	time	time	NOUN
cuesj-1036	141	10	of	of	ADP
cuesj-1036	141	11	the	the	DET
cuesj-1036	141	12	control	control	NOUN
cuesj-1036	141	13	system	system	NOUN
cuesj-1036	141	14	.	.	PUNCT
cuesj-1036	142	1	the	the	DET
cuesj-1036	142	2	process	process	NOUN
cuesj-1036	142	3	component	component	NOUN
cuesj-1036	142	4	will	will	AUX
cuesj-1036	142	5	start	start	VERB
cuesj-1036	142	6	to	to	PART
cuesj-1036	142	7	oscillate	oscillate	VERB
cuesj-1036	142	8	if	if	SCONJ
cuesj-1036	142	9	the	the	DET
cuesj-1036	142	10	proportionate	proportionate	NOUN
cuesj-1036	142	11	is	be	AUX
cuesj-1036	142	12	too	too	ADV
cuesj-1036	142	13	high	high	ADJ
cuesj-1036	142	14	.	.	PUNCT
cuesj-1036	143	1	further	far	ADV
cuesj-1036	143	2	increasing	increase	VERB
cuesj-1036	143	3	the	the	DET
cuesj-1036	143	4	proportionate	proportionate	ADJ
cuesj-1036	143	5	will	will	AUX
cuesj-1036	143	6	result	result	VERB
cuesj-1036	143	7	in	in	ADP
cuesj-1036	143	8	bigger	big	ADJ
cuesj-1036	143	9	oscillations	oscillation	NOUN
cuesj-1036	143	10	,	,	PUNCT
cuesj-1036	143	11	an	an	DET
cuesj-1036	143	12	unstable	unstable	ADJ
cuesj-1036	143	13	system	system	NOUN
cuesj-1036	143	14	,	,	PUNCT
cuesj-1036	143	15	and	and	CCONJ
cuesj-1036	143	16	possibly	possibly	ADV
cuesj-1036	143	17	even	even	ADV
cuesj-1036	143	18	uncontrollable	uncontrollable	ADJ
cuesj-1036	143	19	oscillations	oscillation	NOUN
cuesj-1036	143	20	.	.	PUNCT
cuesj-1036	144	1	2	2	X
cuesj-1036	144	2	.	.	X
cuesj-1036	144	3	the	the	DET
cuesj-1036	144	4	quantity	quantity	NOUN
cuesj-1036	144	5	and	and	CCONJ
cuesj-1036	144	6	duration	duration	NOUN
cuesj-1036	144	7	of	of	ADP
cuesj-1036	144	8	the	the	DET
cuesj-1036	144	9	error	error	NOUN
cuesj-1036	144	10	values	value	NOUN
cuesj-1036	144	11	are	be	AUX
cuesj-1036	144	12	represented	represent	VERB
cuesj-1036	144	13	by	by	ADP
cuesj-1036	144	14	the	the	DET
cuesj-1036	144	15	integral	integral	ADJ
cuesj-1036	144	16	error	error	NOUN
cuesj-1036	144	17	,	,	PUNCT
cuesj-1036	144	18	which	which	PRON
cuesj-1036	144	19	takes	take	VERB
cuesj-1036	144	20	the	the	DET
cuesj-1036	144	21	integral	integral	ADJ
cuesj-1036	144	22	figure	figure	NOUN
cuesj-1036	144	23	2	2	NUM
cuesj-1036	144	24	:	:	PUNCT
cuesj-1036	144	25	steps	step	NOUN
cuesj-1036	144	26	of	of	ADP
cuesj-1036	144	27	haar	haar	NOUN
cuesj-1036	144	28	cascade	cascade	NOUN
cuesj-1036	144	29	algorithm	algorithm	NOUN
cuesj-1036	144	30	figure	figure	NOUN
cuesj-1036	144	31	3	3	NUM
cuesj-1036	144	32	:	:	PUNCT
cuesj-1036	144	33	drone	drone	NOUN
cuesj-1036	144	34	zones	zone	NOUN
cuesj-1036	144	35	figure	figure	VERB
cuesj-1036	144	36	4	4	NUM
cuesj-1036	144	37	:	:	PUNCT
cuesj-1036	144	38	yaw	yaw	NOUN
cuesj-1036	144	39	angle	angle	NOUN
cuesj-1036	144	40	of	of	ADP
cuesj-1036	144	41	the	the	DET
cuesj-1036	144	42	errors	error	NOUN
cuesj-1036	144	43	that	that	PRON
cuesj-1036	144	44	the	the	DET
cuesj-1036	144	45	control	control	PROPN
cuesj-1036	144	46	loop	loop	NOUN
cuesj-1036	144	47	records	record	NOUN
cuesj-1036	144	48	.	.	PUNCT
cuesj-1036	145	1	the	the	DET
cuesj-1036	145	2	integral	integral	ADJ
cuesj-1036	145	3	can	can	AUX
cuesj-1036	145	4	determine	determine	VERB
cuesj-1036	145	5	both	both	CCONJ
cuesj-1036	145	6	the	the	DET
cuesj-1036	145	7	current	current	ADJ
cuesj-1036	145	8	error	error	NOUN
cuesj-1036	145	9	value	value	NOUN
cuesj-1036	145	10	and	and	CCONJ
cuesj-1036	145	11	previous	previous	ADJ
cuesj-1036	145	12	error	error	NOUN
cuesj-1036	145	13	values	value	NOUN
cuesj-1036	145	14	since	since	SCONJ
cuesj-1036	145	15	it	it	PRON
cuesj-1036	145	16	takes	take	VERB
cuesj-1036	145	17	time	time	NOUN
cuesj-1036	145	18	into	into	ADP
cuesj-1036	145	19	account	account	NOUN
cuesj-1036	145	20	,	,	PUNCT
cuesj-1036	145	21	while	while	SCONJ
cuesj-1036	145	22	the	the	DET
cuesj-1036	145	23	proportional	proportional	ADJ
cuesj-1036	145	24	term	term	NOUN
cuesj-1036	145	25	can	can	AUX
cuesj-1036	145	26	not	not	PART
cuesj-1036	145	27	.	.	PUNCT
cuesj-1036	146	1	a	a	DET
cuesj-1036	146	2	higher	high	ADJ
cuesj-1036	146	3	integration	integration	NOUN
cuesj-1036	146	4	factor	factor	NOUN
cuesj-1036	146	5	reduces	reduce	VERB
cuesj-1036	146	6	steady	steady	ADJ
cuesj-1036	146	7	-	-	PUNCT
cuesj-1036	146	8	state	state	NOUN
cuesj-1036	146	9	error	error	NOUN
cuesj-1036	146	10	,	,	PUNCT
cuesj-1036	146	11	or	or	CCONJ
cuesj-1036	146	12	the	the	DET
cuesj-1036	146	13	output	output	NOUN
cuesj-1036	146	14	value	value	NOUN
cuesj-1036	146	15	’s	’	VERB
cuesj-1036	146	16	ringing	ring	VERB
cuesj-1036	146	17	around	around	ADP
cuesj-1036	146	18	the	the	DET
cuesj-1036	146	19	target	target	NOUN
cuesj-1036	146	20	value	value	NOUN
cuesj-1036	146	21	.	.	PUNCT
cuesj-1036	147	1	as	as	ADP
cuesj-1036	147	2	a	a	DET
cuesj-1036	147	3	result	result	NOUN
cuesj-1036	147	4	,	,	PUNCT
cuesj-1036	147	5	the	the	DET
cuesj-1036	147	6	system	system	NOUN
cuesj-1036	147	7	can	can	AUX
cuesj-1036	147	8	stabilize	stabilize	VERB
cuesj-1036	147	9	more	more	ADV
cuesj-1036	147	10	rapidly	rapidly	ADV
cuesj-1036	147	11	and	and	CCONJ
cuesj-1036	147	12	accomplish	accomplish	VERB
cuesj-1036	147	13	its	its	PRON
cuesj-1036	147	14	objective	objective	NOUN
cuesj-1036	147	15	.	.	PUNCT
cuesj-1036	148	1	higher	high	ADJ
cuesj-1036	148	2	integral	integral	ADJ
cuesj-1036	148	3	coefficients	coefficient	NOUN
cuesj-1036	148	4	,	,	PUNCT
cuesj-1036	148	5	however	however	ADV
cuesj-1036	148	6	,	,	PUNCT
cuesj-1036	148	7	may	may	AUX
cuesj-1036	148	8	cause	cause	VERB
cuesj-1036	148	9	more	more	ADJ
cuesj-1036	148	10	overshoot	overshoot	NOUN
cuesj-1036	148	11	when	when	SCONJ
cuesj-1036	148	12	first	first	ADV
cuesj-1036	148	13	reaching	reach	VERB
cuesj-1036	148	14	the	the	DET
cuesj-1036	148	15	target	target	NOUN
cuesj-1036	148	16	.	.	PUNCT
cuesj-1036	149	1	3	3	X
cuesj-1036	149	2	.	.	X
cuesj-1036	149	3	increasing	increase	VERB
cuesj-1036	149	4	the	the	DET
cuesj-1036	149	5	derivative	derivative	ADJ
cuesj-1036	149	6	time	time	NOUN
cuesj-1036	149	7	parameter	parameter	NOUN
cuesj-1036	149	8	will	will	AUX
cuesj-1036	149	9	speed	speed	VERB
cuesj-1036	149	10	up	up	ADP
cuesj-1036	149	11	the	the	DET
cuesj-1036	149	12	overall	overall	ADJ
cuesj-1036	149	13	responsiveness	responsiveness	NOUN
cuesj-1036	149	14	of	of	ADP
cuesj-1036	149	15	the	the	DET
cuesj-1036	149	16	control	control	NOUN
cuesj-1036	149	17	system	system	NOUN
cuesj-1036	149	18	and	and	CCONJ
cuesj-1036	149	19	make	make	VERB
cuesj-1036	149	20	the	the	DET
cuesj-1036	149	21	control	control	NOUN
cuesj-1036	149	22	system	system	NOUN
cuesj-1036	149	23	respond	respond	VERB
cuesj-1036	149	24	to	to	ADP
cuesj-1036	149	25	changes	change	NOUN
cuesj-1036	149	26	in	in	ADP
cuesj-1036	149	27	the	the	DET
cuesj-1036	149	28	error	error	NOUN
cuesj-1036	149	29	term	term	NOUN
cuesj-1036	149	30	more	more	ADV
cuesj-1036	149	31	quickly	quickly	ADV
cuesj-1036	149	32	.	.	PUNCT
cuesj-1036	150	1	due	due	ADP
cuesj-1036	150	2	to	to	ADP
cuesj-1036	150	3	the	the	DET
cuesj-1036	150	4	relatively	relatively	ADV
cuesj-1036	150	5	high	high	ADJ
cuesj-1036	150	6	sensitivity	sensitivity	NOUN
cuesj-1036	150	7	of	of	ADP
cuesj-1036	150	8	the	the	DET
cuesj-1036	150	9	derivative	derivative	ADJ
cuesj-1036	150	10	response	response	NOUN
cuesj-1036	150	11	to	to	PART
cuesj-1036	150	12	noise	noise	VERB
cuesj-1036	150	13	in	in	ADP
cuesj-1036	150	14	the	the	DET
cuesj-1036	150	15	process	process	NOUN
cuesj-1036	150	16	variable	variable	ADJ
cuesj-1036	150	17	signal	signal	NOUN
cuesj-1036	150	18	,	,	PUNCT
cuesj-1036	150	19	the	the	DET
cuesj-1036	150	20	majority	majority	NOUN
cuesj-1036	150	21	of	of	ADP
cuesj-1036	150	22	practical	practical	ADJ
cuesj-1036	150	23	control	control	NOUN
cuesj-1036	150	24	systems	system	NOUN
cuesj-1036	150	25	employ	employ	VERB
cuesj-1036	150	26	very	very	ADV
cuesj-1036	150	27	small	small	ADJ
cuesj-1036	150	28	derivative	derivative	NOUN
cuesj-1036	150	29	.	.	PUNCT
cuesj-1036	151	1	the	the	DET
cuesj-1036	151	2	derivative	derivative	ADJ
cuesj-1036	151	3	response	response	NOUN
cuesj-1036	151	4	can	can	AUX
cuesj-1036	151	5	lead	lead	VERB
cuesj-1036	151	6	to	to	ADP
cuesj-1036	151	7	control	control	NOUN
cuesj-1036	151	8	system	system	NOUN
cuesj-1036	151	9	instability	instability	NOUN
cuesj-1036	151	10	if	if	SCONJ
cuesj-1036	151	11	the	the	DET
cuesj-1036	151	12	sensor	sensor	NOUN
cuesj-1036	151	13	feedback	feedback	VERB
cuesj-1036	151	14	abdallah	abdallah	PROPN
cuesj-1036	151	15	:	:	PUNCT
cuesj-1036	151	16	dji	dji	PROPN
cuesj-1036	151	17	tello	tello	PROPN
cuesj-1036	151	18	quad	quad	PROPN
cuesj-1036	151	19	:	:	PUNCT
cuesj-1036	151	20	face	face	NOUN
cuesj-1036	151	21	-	-	PUNCT
cuesj-1036	151	22	following	follow	VERB
cuesj-1036	151	23	system	system	NOUN
cuesj-1036	151	24	with	with	ADP
cuesj-1036	151	25	haar	haar	NOUN
cuesj-1036	151	26	cascade	cascade	NOUN
cuesj-1036	151	27	and	and	CCONJ
cuesj-1036	151	28	pid	pid	NOUN
cuesj-1036	151	29	control	control	NOUN
cuesj-1036	151	30	58	58	NUM
cuesj-1036	151	31	http://journals.cihanuniversity.edu.iq/index.php/cuesj	http://journals.cihanuniversity.edu.iq/index.php/cuesj	ADJ
cuesj-1036	151	32	cuesj	cuesj	NOUN
cuesj-1036	151	33	2023	2023	NUM
cuesj-1036	151	34	,	,	PUNCT
cuesj-1036	151	35	7	7	NUM
cuesj-1036	151	36	(	(	PUNCT
cuesj-1036	151	37	2	2	NUM
cuesj-1036	151	38	):	):	PUNCT
cuesj-1036	151	39	54	54	NUM
cuesj-1036	151	40	-	-	SYM
cuesj-1036	151	41	59	59	NUM
cuesj-1036	151	42	figure	figure	NOUN
cuesj-1036	151	43	5	5	NUM
cuesj-1036	151	44	:	:	PUNCT
cuesj-1036	151	45	rotating	rotate	VERB
cuesj-1036	151	46	the	the	DET
cuesj-1036	151	47	drone	drone	NOUN
cuesj-1036	151	48	signal	signal	NOUN
cuesj-1036	151	49	is	be	AUX
cuesj-1036	151	50	noisy	noisy	ADJ
cuesj-1036	151	51	or	or	CCONJ
cuesj-1036	151	52	if	if	SCONJ
cuesj-1036	151	53	the	the	DET
cuesj-1036	151	54	control	control	PROPN
cuesj-1036	151	55	loop	loop	NOUN
cuesj-1036	151	56	rate	rate	NOUN
cuesj-1036	151	57	is	be	AUX
cuesj-1036	151	58	excessively	excessively	ADV
cuesj-1036	151	59	slow.[19,20	slow.[19,20	NOUN
cuesj-1036	151	60	]	]	X
cuesj-1036	151	61	moreover	moreover	ADV
cuesj-1036	151	62	,	,	PUNCT
cuesj-1036	151	63	here	here	ADV
cuesj-1036	151	64	the	the	DET
cuesj-1036	151	65	error	error	NOUN
cuesj-1036	151	66	is	be	AUX
cuesj-1036	151	67	the	the	DET
cuesj-1036	151	68	difference	difference	NOUN
cuesj-1036	151	69	between	between	ADP
cuesj-1036	151	70	the	the	DET
cuesj-1036	151	71	face	face	NOUN
cuesj-1036	151	72	of	of	ADP
cuesj-1036	151	73	the	the	DET
cuesj-1036	151	74	person	person	NOUN
cuesj-1036	151	75	and	and	CCONJ
cuesj-1036	151	76	the	the	DET
cuesj-1036	151	77	bound	bound	ADJ
cuesj-1036	151	78	box	box	NOUN
cuesj-1036	151	79	of	of	ADP
cuesj-1036	151	80	the	the	DET
cuesj-1036	151	81	haar	haar	PROPN
cuesj-1036	151	82	algorithm	algorithm	PROPN
cuesj-1036	151	83	.	.	PUNCT
cuesj-1036	152	1	the	the	DET
cuesj-1036	152	2	pid	pid	NOUN
cuesj-1036	152	3	algorithm	algorithm	NOUN
cuesj-1036	152	4	tries	try	VERB
cuesj-1036	152	5	to	to	PART
cuesj-1036	152	6	reduce	reduce	VERB
cuesj-1036	152	7	the	the	DET
cuesj-1036	152	8	distance	distance	NOUN
cuesj-1036	152	9	between	between	ADP
cuesj-1036	152	10	these	these	DET
cuesj-1036	152	11	two	two	NUM
cuesj-1036	152	12	points	point	NOUN
cuesj-1036	152	13	by	by	ADP
cuesj-1036	152	14	founding	found	VERB
cuesj-1036	152	15	a	a	DET
cuesj-1036	152	16	stable	stable	ADJ
cuesj-1036	152	17	point	point	NOUN
cuesj-1036	152	18	that	that	PRON
cuesj-1036	152	19	makes	make	VERB
cuesj-1036	152	20	the	the	DET
cuesj-1036	152	21	done	do	VERB
cuesj-1036	152	22	be	be	AUX
cuesj-1036	152	23	stable	stable	ADJ
cuesj-1036	152	24	enough	enough	ADV
cuesj-1036	152	25	to	to	PART
cuesj-1036	152	26	make	make	VERB
cuesj-1036	152	27	it	it	PRON
cuesj-1036	152	28	move	move	VERB
cuesj-1036	152	29	to	to	PART
cuesj-1036	152	30	roll	roll	VERB
cuesj-1036	152	31	,	,	PUNCT
cuesj-1036	152	32	pitch	pitch	NOUN
cuesj-1036	152	33	,	,	PUNCT
cuesj-1036	152	34	and	and	CCONJ
cuesj-1036	152	35	yaw	yaw	NOUN
cuesj-1036	152	36	to	to	PART
cuesj-1036	152	37	follow	follow	VERB
cuesj-1036	152	38	the	the	DET
cuesj-1036	152	39	face	face	NOUN
cuesj-1036	152	40	correctly	correctly	ADV
cuesj-1036	152	41	.	.	PUNCT
cuesj-1036	153	1	implementation	implementation	NOUN
cuesj-1036	153	2	and	and	CCONJ
cuesj-1036	153	3	results	result	NOUN
cuesj-1036	153	4	figure	figure	VERB
cuesj-1036	153	5	6	6	NUM
cuesj-1036	153	6	depicts	depict	NOUN
cuesj-1036	153	7	the	the	DET
cuesj-1036	153	8	flowchart	flowchart	NOUN
cuesj-1036	153	9	used	use	VERB
cuesj-1036	153	10	during	during	ADP
cuesj-1036	153	11	the	the	DET
cuesj-1036	153	12	investigation	investigation	NOUN
cuesj-1036	153	13	.	.	PUNCT
cuesj-1036	154	1	in	in	ADP
cuesj-1036	154	2	general	general	ADJ
cuesj-1036	154	3	,	,	PUNCT
cuesj-1036	154	4	it	it	PRON
cuesj-1036	154	5	is	be	AUX
cuesj-1036	154	6	an	an	DET
cuesj-1036	154	7	iterative	iterative	NOUN
cuesj-1036	154	8	method	method	NOUN
cuesj-1036	154	9	of	of	ADP
cuesj-1036	154	10	face	face	NOUN
cuesj-1036	154	11	tracking	tracking	NOUN
cuesj-1036	154	12	and	and	CCONJ
cuesj-1036	154	13	signal	signal	ADJ
cuesj-1036	154	14	calculation	calculation	NOUN
cuesj-1036	154	15	for	for	ADP
cuesj-1036	154	16	controlling	control	VERB
cuesj-1036	154	17	speed	speed	NOUN
cuesj-1036	154	18	movements	movement	NOUN
cuesj-1036	154	19	.	.	PUNCT
cuesj-1036	155	1	the	the	DET
cuesj-1036	155	2	ai	ai	PROPN
cuesj-1036	155	3	drone	drone	NOUN
cuesj-1036	155	4	is	be	AUX
cuesj-1036	155	5	capable	capable	ADJ
cuesj-1036	155	6	of	of	ADP
cuesj-1036	155	7	moving	move	VERB
cuesj-1036	155	8	in	in	ADP
cuesj-1036	155	9	any	any	DET
cuesj-1036	155	10	direction	direction	NOUN
cuesj-1036	155	11	with	with	ADP
cuesj-1036	155	12	the	the	DET
cuesj-1036	155	13	right	right	ADJ
cuesj-1036	155	14	pid	pid	NOUN
cuesj-1036	155	15	parameters	parameter	NOUN
cuesj-1036	155	16	,	,	PUNCT
cuesj-1036	155	17	when	when	SCONJ
cuesj-1036	155	18	a	a	DET
cuesj-1036	155	19	human	human	ADJ
cuesj-1036	155	20	stop	stop	NOUN
cuesj-1036	155	21	moving	move	VERB
cuesj-1036	155	22	,	,	PUNCT
cuesj-1036	155	23	the	the	DET
cuesj-1036	155	24	ai	ai	NOUN
cuesj-1036	155	25	drone	drone	NOUN
cuesj-1036	155	26	can	can	AUX
cuesj-1036	155	27	precisely	precisely	ADV
cuesj-1036	155	28	track	track	VERB
cuesj-1036	155	29	their	their	PRON
cuesj-1036	155	30	face	face	NOUN
cuesj-1036	155	31	and	and	CCONJ
cuesj-1036	155	32	stop	stop	VERB
cuesj-1036	155	33	in	in	ADP
cuesj-1036	155	34	front	front	NOUN
cuesj-1036	155	35	of	of	ADP
cuesj-1036	155	36	them.[21	them.[21	PROPN
cuesj-1036	155	37	]	]	PUNCT
cuesj-1036	156	1	you	you	PRON
cuesj-1036	156	2	can	can	AUX
cuesj-1036	156	3	view	view	VERB
cuesj-1036	156	4	the	the	DET
cuesj-1036	156	5	experimental	experimental	ADJ
cuesj-1036	156	6	result	result	NOUN
cuesj-1036	156	7	throw	throw	NOUN
cuesj-1036	156	8	below	below	ADP
cuesj-1036	156	9	link	link	NOUN
cuesj-1036	156	10	:	:	PUNCT
cuesj-1036	156	11	https://www.youtube.com/watch?v=cou7tcpg2qs	https://www.youtube.com/watch?v=cou7tcpg2qs	NOUN
cuesj-1036	156	12	in	in	ADP
cuesj-1036	156	13	this	this	DET
cuesj-1036	156	14	video	video	NOUN
cuesj-1036	156	15	,	,	PUNCT
cuesj-1036	156	16	a	a	DET
cuesj-1036	156	17	quadcopter	quadcopter	NOUN
cuesj-1036	156	18	follows	follow	VERB
cuesj-1036	156	19	a	a	DET
cuesj-1036	156	20	face	face	NOUN
cuesj-1036	156	21	as	as	SCONJ
cuesj-1036	156	22	it	it	PRON
cuesj-1036	156	23	rotates	rotate	VERB
cuesj-1036	156	24	and	and	CCONJ
cuesj-1036	156	25	goes	go	VERB
cuesj-1036	156	26	in	in	ADP
cuesj-1036	156	27	different	different	ADJ
cuesj-1036	156	28	directions	direction	NOUN
cuesj-1036	156	29	,	,	PUNCT
cuesj-1036	156	30	starting	start	VERB
cuesj-1036	156	31	off	off	ADP
cuesj-1036	156	32	to	to	ADP
cuesj-1036	156	33	the	the	DET
cuesj-1036	156	34	right	right	NOUN
cuesj-1036	156	35	and	and	CCONJ
cuesj-1036	156	36	then	then	ADV
cuesj-1036	156	37	to	to	ADP
cuesj-1036	156	38	the	the	DET
cuesj-1036	156	39	left	left	NOUN
cuesj-1036	156	40	.	.	PUNCT
cuesj-1036	157	1	then	then	ADV
cuesj-1036	157	2	,	,	PUNCT
cuesj-1036	157	3	the	the	DET
cuesj-1036	157	4	human	human	ADJ
cuesj-1036	157	5	moves	move	NOUN
cuesj-1036	157	6	forward	forward	ADV
cuesj-1036	157	7	and	and	CCONJ
cuesj-1036	157	8	the	the	DET
cuesj-1036	157	9	quadcopter	quadcopter	NOUN
cuesj-1036	157	10	moves	move	VERB
cuesj-1036	157	11	backwards	backwards	ADV
cuesj-1036	157	12	;	;	PUNCT
cuesj-1036	157	13	at	at	ADP
cuesj-1036	157	14	that	that	DET
cuesj-1036	157	15	point	point	NOUN
cuesj-1036	157	16	,	,	PUNCT
cuesj-1036	157	17	you	you	PRON
cuesj-1036	157	18	can	can	AUX
cuesj-1036	157	19	clearly	clearly	ADV
cuesj-1036	157	20	see	see	VERB
cuesj-1036	157	21	the	the	DET
cuesj-1036	157	22	yaw	yaw	NOUN
cuesj-1036	157	23	rotation	rotation	NOUN
cuesj-1036	157	24	.	.	PUNCT
cuesj-1036	158	1	then	then	ADV
cuesj-1036	158	2	,	,	PUNCT
cuesj-1036	158	3	the	the	DET
cuesj-1036	158	4	face	face	NOUN
cuesj-1036	158	5	moves	move	VERB
cuesj-1036	158	6	in	in	ADP
cuesj-1036	158	7	close	close	ADJ
cuesj-1036	158	8	proximity	proximity	NOUN
cuesj-1036	158	9	to	to	ADP
cuesj-1036	158	10	the	the	DET
cuesj-1036	158	11	drone	drone	NOUN
cuesj-1036	158	12	,	,	PUNCT
cuesj-1036	158	13	and	and	CCONJ
cuesj-1036	158	14	the	the	DET
cuesj-1036	158	15	drone	drone	NOUN
cuesj-1036	158	16	follows	follow	VERB
cuesj-1036	158	17	the	the	DET
cuesj-1036	158	18	face	face	NOUN
cuesj-1036	158	19	before	before	ADP
cuesj-1036	158	20	stopping	stop	VERB
cuesj-1036	158	21	.	.	PUNCT
cuesj-1036	159	1	the	the	DET
cuesj-1036	159	2	method	method	NOUN
cuesj-1036	159	3	used	use	VERB
cuesj-1036	159	4	in	in	ADP
cuesj-1036	159	5	this	this	DET
cuesj-1036	159	6	study	study	NOUN
cuesj-1036	159	7	involves	involve	VERB
cuesj-1036	159	8	fixing	fix	VERB
cuesj-1036	159	9	a	a	DET
cuesj-1036	159	10	point	point	NOUN
cuesj-1036	159	11	in	in	ADP
cuesj-1036	159	12	the	the	DET
cuesj-1036	159	13	middle	middle	NOUN
cuesj-1036	159	14	of	of	ADP
cuesj-1036	159	15	the	the	DET
cuesj-1036	159	16	image	image	NOUN
cuesj-1036	159	17	with	with	ADP
cuesj-1036	159	18	a	a	DET
cuesj-1036	159	19	bounding	bounding	NOUN
cuesj-1036	159	20	box	box	NOUN
cuesj-1036	159	21	of	of	ADP
cuesj-1036	159	22	a	a	DET
cuesj-1036	159	23	particular	particular	ADJ
cuesj-1036	159	24	size	size	NOUN
cuesj-1036	159	25	.	.	PUNCT
cuesj-1036	160	1	the	the	DET
cuesj-1036	160	2	quadcopter	quadcopter	NOUN
cuesj-1036	160	3	’s	’s	PART
cuesj-1036	160	4	position	position	NOUN
cuesj-1036	160	5	error	error	NOUN
cuesj-1036	160	6	rate	rate	NOUN
cuesj-1036	160	7	against	against	ADP
cuesj-1036	160	8	the	the	DET
cuesj-1036	160	9	object	object	NOUN
cuesj-1036	160	10	’s	’s	PART
cuesj-1036	160	11	face	face	NOUN
cuesj-1036	160	12	is	be	AUX
cuesj-1036	160	13	calculated	calculate	VERB
cuesj-1036	160	14	by	by	ADP
cuesj-1036	160	15	comparing	compare	VERB
cuesj-1036	160	16	the	the	DET
cuesj-1036	160	17	center	center	NOUN
cuesj-1036	160	18	bounding	bound	VERB
cuesj-1036	160	19	box	box	NOUN
cuesj-1036	160	20	to	to	ADP
cuesj-1036	160	21	the	the	DET
cuesj-1036	160	22	findings	finding	NOUN
cuesj-1036	160	23	of	of	ADP
cuesj-1036	160	24	object	object	NOUN
cuesj-1036	160	25	identification	identification	NOUN
cuesj-1036	160	26	bounding	bounding	NOUN
cuesj-1036	160	27	boxes	box	NOUN
cuesj-1036	160	28	.	.	PUNCT
cuesj-1036	161	1	the	the	DET
cuesj-1036	161	2	result	result	NOUN
cuesj-1036	161	3	of	of	ADP
cuesj-1036	161	4	calculating	calculate	VERB
cuesj-1036	161	5	pid	pid	NOUN
cuesj-1036	161	6	parameters	parameter	NOUN
cuesj-1036	161	7	is	be	AUX
cuesj-1036	161	8	shown	show	VERB
cuesj-1036	161	9	in	in	ADP
cuesj-1036	161	10	table	table	NOUN
cuesj-1036	161	11	3	3	NUM
cuesj-1036	161	12	.	.	PUNCT
cuesj-1036	162	1	the	the	DET
cuesj-1036	162	2	proposed	propose	VERB
cuesj-1036	162	3	system	system	NOUN
cuesj-1036	162	4	has	have	VERB
cuesj-1036	162	5	three	three	NUM
cuesj-1036	162	6	movements	movement	NOUN
cuesj-1036	162	7	:	:	PUNCT
cuesj-1036	162	8	left/	left/	NUM
cuesj-1036	162	9	right	right	ADJ
cuesj-1036	162	10	(	(	PUNCT
cuesj-1036	162	11	roll	roll	NOUN
cuesj-1036	162	12	)	)	PUNCT
cuesj-1036	162	13	,	,	PUNCT
cuesj-1036	162	14	forward	forward	ADV
cuesj-1036	162	15	/	/	SYM
cuesj-1036	162	16	backward	backward	ADJ
cuesj-1036	162	17	(	(	PUNCT
cuesj-1036	162	18	pitch	pitch	NOUN
cuesj-1036	162	19	)	)	PUNCT
cuesj-1036	162	20	,	,	PUNCT
cuesj-1036	162	21	and	and	CCONJ
cuesj-1036	162	22	yaw	yaw	NOUN
cuesj-1036	162	23	.	.	PUNCT
cuesj-1036	163	1	at	at	ADP
cuesj-1036	163	2	these	these	DET
cuesj-1036	163	3	points	point	NOUN
cuesj-1036	163	4	,	,	PUNCT
cuesj-1036	163	5	there	there	PRON
cuesj-1036	163	6	was	be	VERB
cuesj-1036	163	7	stability	stability	NOUN
cuesj-1036	163	8	for	for	ADP
cuesj-1036	163	9	the	the	DET
cuesj-1036	163	10	drone	drone	NOUN
cuesj-1036	163	11	movements	movement	NOUN
cuesj-1036	163	12	.	.	PUNCT
cuesj-1036	164	1	the	the	DET
cuesj-1036	164	2	pid	pid	NOUN
cuesj-1036	164	3	controller	controller	NOUN
cuesj-1036	164	4	was	be	AUX
cuesj-1036	164	5	managed	manage	VERB
cuesj-1036	164	6	manually	manually	ADV
cuesj-1036	164	7	by	by	ADP
cuesj-1036	164	8	betaflight	betaflight	NOUN
cuesj-1036	164	9	.	.	PUNCT
cuesj-1036	165	1	betaflight	betaflight	NOUN
cuesj-1036	165	2	is	be	AUX
cuesj-1036	165	3	a	a	DET
cuesj-1036	165	4	flight	flight	NOUN
cuesj-1036	165	5	controller	controller	NOUN
cuesj-1036	165	6	application	application	NOUN
cuesj-1036	165	7	executed	execute	VERB
cuesj-1036	165	8	to	to	PART
cuesj-1036	165	9	fly	fly	VERB
cuesj-1036	165	10	multirotor	multirotor	NOUN
cuesj-1036	165	11	craft	craft	NOUN
cuesj-1036	165	12	and	and	CCONJ
cuesj-1036	165	13	fixed	fix	VERB
cuesj-1036	165	14	-	-	PUNCT
cuesj-1036	165	15	wing	wing	NOUN
cuesj-1036	165	16	craft	craft	NOUN
cuesj-1036	165	17	.	.	PUNCT
cuesj-1036	166	1	it	it	PRON
cuesj-1036	166	2	is	be	AUX
cuesj-1036	166	3	open	open	ADJ
cuesj-1036	166	4	-	-	PUNCT
cuesj-1036	166	5	source	source	NOUN
cuesj-1036	166	6	software	software	NOUN
cuesj-1036	166	7	that	that	PRON
cuesj-1036	166	8	is	be	AUX
cuesj-1036	166	9	highly	highly	ADV
cuesj-1036	166	10	customizable	customizable	ADJ
cuesj-1036	166	11	and	and	CCONJ
cuesj-1036	166	12	widely	widely	ADV
cuesj-1036	166	13	used	use	VERB
cuesj-1036	166	14	in	in	ADP
cuesj-1036	166	15	the	the	DET
cuesj-1036	166	16	drone	drone	NOUN
cuesj-1036	166	17	racing	racing	NOUN
cuesj-1036	166	18	community	community	NOUN
cuesj-1036	166	19	.	.	PUNCT
cuesj-1036	167	1	betaflight	betaflight	NOUN
cuesj-1036	167	2	offers	offer	VERB
cuesj-1036	167	3	advanced	advanced	ADJ
cuesj-1036	167	4	features	feature	NOUN
cuesj-1036	167	5	such	such	ADJ
cuesj-1036	167	6	as	as	ADP
cuesj-1036	167	7	pid	pid	NOUN
cuesj-1036	167	8	tuning	tuning	NOUN
cuesj-1036	167	9	,	,	PUNCT
cuesj-1036	167	10	making	make	VERB
cuesj-1036	167	11	it	it	PRON
cuesj-1036	167	12	a	a	DET
cuesj-1036	167	13	popular	popular	ADJ
cuesj-1036	167	14	choice	choice	NOUN
cuesj-1036	167	15	among	among	ADP
cuesj-1036	167	16	drone	drone	NOUN
cuesj-1036	167	17	enthusiasts	enthusiast	NOUN
cuesj-1036	167	18	for	for	ADP
cuesj-1036	167	19	its	its	PRON
cuesj-1036	167	20	performance	performance	NOUN
cuesj-1036	167	21	and	and	CCONJ
cuesj-1036	167	22	flexibility.[22	flexibility.[22	NOUN
cuesj-1036	167	23	]	]	PUNCT
cuesj-1036	167	24	figure	figure	NOUN
cuesj-1036	167	25	7	7	NUM
cuesj-1036	167	26	shows	show	VERB
cuesj-1036	167	27	the	the	DET
cuesj-1036	167	28	step	step	NOUN
cuesj-1036	167	29	response	response	NOUN
cuesj-1036	167	30	function	function	NOUN
cuesj-1036	167	31	of	of	ADP
cuesj-1036	167	32	the	the	DET
cuesj-1036	167	33	pid	pid	NOUN
cuesj-1036	167	34	,	,	PUNCT
cuesj-1036	167	35	and	and	CCONJ
cuesj-1036	167	36	we	we	PRON
cuesj-1036	167	37	can	can	AUX
cuesj-1036	167	38	clearly	clearly	ADV
cuesj-1036	167	39	see	see	VERB
cuesj-1036	167	40	that	that	SCONJ
cuesj-1036	167	41	the	the	DET
cuesj-1036	167	42	drone	drone	NOUN
cuesj-1036	167	43	movements	movement	NOUN
cuesj-1036	167	44	are	be	AUX
cuesj-1036	167	45	stable	stable	ADJ
cuesj-1036	167	46	figure	figure	NOUN
cuesj-1036	167	47	6	6	NUM
cuesj-1036	167	48	:	:	PUNCT
cuesj-1036	167	49	face	face	NOUN
cuesj-1036	167	50	tracking	track	VERB
cuesj-1036	167	51	flowchart	flowchart	NOUN
cuesj-1036	167	52	figure	figure	NOUN
cuesj-1036	167	53	7	7	NUM
cuesj-1036	167	54	:	:	PUNCT
cuesj-1036	167	55	the	the	DET
cuesj-1036	167	56	pid	pid	NOUN
cuesj-1036	167	57	values	value	NOUN
cuesj-1036	167	58	graph	graph	VERB
cuesj-1036	167	59	for	for	ADP
cuesj-1036	167	60	the	the	DET
cuesj-1036	167	61	drone	drone	NOUN
cuesj-1036	167	62	roll	roll	NOUN
cuesj-1036	167	63	,	,	PUNCT
cuesj-1036	167	64	pitch	pitch	NOUN
cuesj-1036	167	65	,	,	PUNCT
cuesj-1036	167	66	and	and	CCONJ
cuesj-1036	167	67	yaw	yaw	NOUN
cuesj-1036	167	68	movements	movement	NOUN
cuesj-1036	167	69	abdallah	abdallah	PROPN
cuesj-1036	167	70	:	:	PUNCT
cuesj-1036	167	71	dji	dji	PROPN
cuesj-1036	167	72	tello	tello	PROPN
cuesj-1036	167	73	quad	quad	PROPN
cuesj-1036	167	74	:	:	PUNCT
cuesj-1036	167	75	face	face	NOUN
cuesj-1036	167	76	-	-	PUNCT
cuesj-1036	167	77	following	follow	VERB
cuesj-1036	167	78	system	system	NOUN
cuesj-1036	167	79	with	with	ADP
cuesj-1036	167	80	haar	haar	NOUN
cuesj-1036	167	81	cascade	cascade	NOUN
cuesj-1036	167	82	and	and	CCONJ
cuesj-1036	167	83	pid	pid	NOUN
cuesj-1036	167	84	control	control	NOUN
cuesj-1036	167	85	59	59	NUM
cuesj-1036	167	86	http://journals.cihanuniversity.edu.iq/index.php/cuesj	http://journals.cihanuniversity.edu.iq/index.php/cuesj	ADJ
cuesj-1036	167	87	cuesj	cuesj	NOUN
cuesj-1036	167	88	2023	2023	NUM
cuesj-1036	167	89	,	,	PUNCT
cuesj-1036	167	90	7	7	NUM
cuesj-1036	167	91	(	(	PUNCT
cuesj-1036	167	92	2	2	NUM
cuesj-1036	167	93	):	):	PUNCT
cuesj-1036	167	94	54	54	NUM
cuesj-1036	167	95	-	-	SYM
cuesj-1036	167	96	59	59	NUM
cuesj-1036	167	97	at	at	ADP
cuesj-1036	167	98	the	the	DET
cuesj-1036	167	99	given	give	VERB
cuesj-1036	167	100	points	point	NOUN
cuesj-1036	167	101	.	.	PUNCT
cuesj-1036	168	1	note	note	VERB
cuesj-1036	168	2	that	that	SCONJ
cuesj-1036	168	3	these	these	DET
cuesj-1036	168	4	points	point	NOUN
cuesj-1036	168	5	can	can	AUX
cuesj-1036	168	6	be	be	AUX
cuesj-1036	168	7	changed	change	VERB
cuesj-1036	168	8	;	;	PUNCT
cuesj-1036	168	9	the	the	DET
cuesj-1036	168	10	system	system	NOUN
cuesj-1036	168	11	can	can	AUX
cuesj-1036	168	12	find	find	VERB
cuesj-1036	168	13	more	more	ADV
cuesj-1036	168	14	stable	stable	ADJ
cuesj-1036	168	15	points	point	NOUN
cuesj-1036	168	16	,	,	PUNCT
cuesj-1036	168	17	but	but	CCONJ
cuesj-1036	168	18	for	for	ADP
cuesj-1036	168	19	this	this	DET
cuesj-1036	168	20	research	research	NOUN
cuesj-1036	168	21	,	,	PUNCT
cuesj-1036	168	22	these	these	DET
cuesj-1036	168	23	points	point	NOUN
cuesj-1036	168	24	will	will	AUX
cuesj-1036	168	25	be	be	AUX
cuesj-1036	168	26	essential	essential	ADJ
cuesj-1036	168	27	.	.	PUNCT
cuesj-1036	169	1	conclusion	conclusion	NOUN
cuesj-1036	169	2	we	we	PRON
cuesj-1036	169	3	described	describe	VERB
cuesj-1036	169	4	the	the	DET
cuesj-1036	169	5	tracking	tracking	NOUN
cuesj-1036	169	6	and	and	CCONJ
cuesj-1036	169	7	detecting	detecting	NOUN
cuesj-1036	169	8	of	of	ADP
cuesj-1036	169	9	the	the	DET
cuesj-1036	169	10	face	face	NOUN
cuesj-1036	169	11	in	in	ADP
cuesj-1036	169	12	this	this	DET
cuesj-1036	169	13	article	article	NOUN
cuesj-1036	169	14	,	,	PUNCT
cuesj-1036	169	15	which	which	PRON
cuesj-1036	169	16	seeks	seek	VERB
cuesj-1036	169	17	to	to	PART
cuesj-1036	169	18	keep	keep	VERB
cuesj-1036	169	19	a	a	DET
cuesj-1036	169	20	face	face	NOUN
cuesj-1036	169	21	within	within	ADP
cuesj-1036	169	22	a	a	DET
cuesj-1036	169	23	certain	certain	ADJ
cuesj-1036	169	24	distance	distance	NOUN
cuesj-1036	169	25	of	of	ADP
cuesj-1036	169	26	the	the	DET
cuesj-1036	169	27	drone	drone	NOUN
cuesj-1036	169	28	and	and	CCONJ
cuesj-1036	169	29	roughly	roughly	ADV
cuesj-1036	169	30	in	in	ADP
cuesj-1036	169	31	the	the	DET
cuesj-1036	169	32	middle	middle	NOUN
cuesj-1036	169	33	of	of	ADP
cuesj-1036	169	34	the	the	DET
cuesj-1036	169	35	camera	camera	NOUN
cuesj-1036	169	36	stream	stream	NOUN
cuesj-1036	169	37	.	.	PUNCT
cuesj-1036	170	1	to	to	PART
cuesj-1036	170	2	do	do	VERB
cuesj-1036	170	3	this	this	PRON
cuesj-1036	170	4	,	,	PUNCT
cuesj-1036	170	5	three	three	NUM
cuesj-1036	170	6	types	type	NOUN
cuesj-1036	170	7	of	of	ADP
cuesj-1036	170	8	movements	movement	NOUN
cuesj-1036	170	9	are	be	AUX
cuesj-1036	170	10	used	use	VERB
cuesj-1036	170	11	:	:	PUNCT
cuesj-1036	170	12	yaw	yaw	NOUN
cuesj-1036	170	13	rotation	rotation	NOUN
cuesj-1036	170	14	,	,	PUNCT
cuesj-1036	170	15	left/	left/	NUM
cuesj-1036	170	16	right	right	ADJ
cuesj-1036	170	17	,	,	PUNCT
cuesj-1036	170	18	and	and	CCONJ
cuesj-1036	170	19	forward	forward	ADV
cuesj-1036	170	20	/	/	SYM
cuesj-1036	170	21	backward	backward	ADV
cuesj-1036	170	22	.	.	PUNCT
cuesj-1036	171	1	in	in	ADP
cuesj-1036	171	2	addition	addition	NOUN
cuesj-1036	171	3	,	,	PUNCT
cuesj-1036	171	4	we	we	PRON
cuesj-1036	171	5	covered	cover	VERB
cuesj-1036	171	6	how	how	SCONJ
cuesj-1036	171	7	to	to	PART
cuesj-1036	171	8	use	use	VERB
cuesj-1036	171	9	the	the	DET
cuesj-1036	171	10	haar	haar	NOUN
cuesj-1036	171	11	cascade	cascade	NOUN
cuesj-1036	171	12	and	and	CCONJ
cuesj-1036	171	13	how	how	SCONJ
cuesj-1036	171	14	to	to	PART
cuesj-1036	171	15	control	control	VERB
cuesj-1036	171	16	the	the	DET
cuesj-1036	171	17	drone	drone	NOUN
cuesj-1036	171	18	movements	movement	NOUN
cuesj-1036	171	19	with	with	ADP
cuesj-1036	171	20	the	the	DET
cuesj-1036	171	21	pid	pid	NOUN
cuesj-1036	171	22	controller	controller	NOUN
cuesj-1036	171	23	.	.	PUNCT
cuesj-1036	172	1	we	we	PRON
cuesj-1036	172	2	can	can	AUX
cuesj-1036	172	3	add	add	VERB
cuesj-1036	172	4	more	more	ADJ
cuesj-1036	172	5	movements	movement	NOUN
cuesj-1036	172	6	in	in	ADP
cuesj-1036	172	7	the	the	DET
cuesj-1036	172	8	future	future	NOUN
cuesj-1036	172	9	,	,	PUNCT
cuesj-1036	172	10	such	such	ADJ
cuesj-1036	172	11	as	as	ADP
cuesj-1036	172	12	up	up	ADV
cuesj-1036	172	13	and	and	CCONJ
cuesj-1036	172	14	down	down	ADV
cuesj-1036	172	15	,	,	PUNCT
cuesj-1036	172	16	and	and	CCONJ
cuesj-1036	172	17	work	work	VERB
cuesj-1036	172	18	more	more	ADV
cuesj-1036	172	19	on	on	ADP
cuesj-1036	172	20	the	the	DET
cuesj-1036	172	21	stable	stable	ADJ
cuesj-1036	172	22	points	point	NOUN
cuesj-1036	172	23	.	.	PUNCT
cuesj-1036	173	1	references	reference	NOUN
cuesj-1036	173	2	1	1	NUM
cuesj-1036	173	3	.	.	PUNCT
cuesj-1036	173	4	s.	s.	PROPN
cuesj-1036	173	5	han	han	PROPN
cuesj-1036	173	6	,	,	PUNCT
cuesj-1036	173	7	w.	w.	PROPN
cuesj-1036	173	8	shen	shen	PROPN
cuesj-1036	173	9	and	and	CCONJ
cuesj-1036	173	10	z.	z.	PROPN
cuesj-1036	173	11	liu	liu	PROPN
cuesj-1036	173	12	.	.	PUNCT
cuesj-1036	174	1	deep	deep	ADJ
cuesj-1036	174	2	drone	drone	NOUN
cuesj-1036	174	3	:	:	PUNCT
cuesj-1036	174	4	object	object	NOUN
cuesj-1036	174	5	detection	detection	NOUN
cuesj-1036	174	6	and	and	CCONJ
cuesj-1036	174	7	tracking	track	VERB
cuesj-1036	174	8	for	for	ADP
cuesj-1036	174	9	smart	smart	ADJ
cuesj-1036	174	10	drones	drone	NOUN
cuesj-1036	174	11	on	on	ADP
cuesj-1036	174	12	embedded	embed	VERB
cuesj-1036	174	13	system	system	NOUN
cuesj-1036	174	14	,	,	PUNCT
cuesj-1036	174	15	2016	2016	NUM
cuesj-1036	174	16	.	.	PUNCT
cuesj-1036	175	1	available	available	ADJ
cuesj-1036	175	2	from	from	ADP
cuesj-1036	175	3	:	:	PUNCT
cuesj-1036	175	4	https://web.stanford.edu/class/cs231a/prev	https://web.stanford.edu/class/cs231a/prev	X
cuesj-1036	175	5	_	_	PRON
cuesj-1036	175	6	projects_2016	projects_2016	PROPN
cuesj-1036	175	7	/	/	SYM
cuesj-1036	175	8	deepdrone	deepdrone	NOUN
cuesj-1036	175	9	-	-	PUNCT
cuesj-1036	175	10	object	object	NOUN
cuesj-1036	175	11	2_.pdf	2_.pdf	NUM
cuesj-1036	175	12	2	2	NUM
cuesj-1036	175	13	.	.	PUNCT
cuesj-1036	175	14	t.	t.	PROPN
cuesj-1036	175	15	lee	lee	PROPN
cuesj-1036	175	16	,	,	PUNCT
cuesj-1036	175	17	s.	s.	PROPN
cuesj-1036	175	18	mckeever	mckeever	PROPN
cuesj-1036	175	19	and	and	CCONJ
cuesj-1036	175	20	j.	j.	PROPN
cuesj-1036	175	21	courtney	courtney	PROPN
cuesj-1036	175	22	.	.	PUNCT
cuesj-1036	175	23	flying	fly	VERB
cuesj-1036	175	24	free	free	ADJ
cuesj-1036	175	25	:	:	PUNCT
cuesj-1036	175	26	a	a	DET
cuesj-1036	175	27	research	research	NOUN
cuesj-1036	175	28	overview	overview	NOUN
cuesj-1036	175	29	of	of	ADP
cuesj-1036	175	30	deep	deep	ADJ
cuesj-1036	175	31	learning	learning	NOUN
cuesj-1036	175	32	in	in	ADP
cuesj-1036	175	33	drone	drone	NOUN
cuesj-1036	175	34	navigation	navigation	NOUN
cuesj-1036	175	35	autonomy	autonomy	NOUN
cuesj-1036	175	36	.	.	PUNCT
cuesj-1036	176	1	drones	drone	NOUN
cuesj-1036	176	2	,	,	PUNCT
cuesj-1036	176	3	vol	vol	NOUN
cuesj-1036	176	4	.	.	PROPN
cuesj-1036	176	5	52	52	NUM
cuesj-1036	176	6	,	,	PUNCT
cuesj-1036	176	7	p.	p.	NOUN
cuesj-1036	176	8	52	52	NUM
cuesj-1036	176	9	,	,	PUNCT
cuesj-1036	176	10	2021	2021	NUM
cuesj-1036	176	11	.	.	PUNCT
cuesj-1036	177	1	3	3	X
cuesj-1036	177	2	.	.	PUNCT
cuesj-1036	177	3	k.	k.	PROPN
cuesj-1036	177	4	kakaes	kakaes	PROPN
cuesj-1036	177	5	.	.	PUNCT
cuesj-1036	178	1	from	from	ADP
cuesj-1036	178	2	orville	orville	PROPN
cuesj-1036	178	3	wright	wright	PROPN
cuesj-1036	178	4	to	to	ADP
cuesj-1036	178	5	september	september	PROPN
cuesj-1036	178	6	11	11	NUM
cuesj-1036	178	7	:	:	PUNCT
cuesj-1036	178	8	what	what	PRON
cuesj-1036	178	9	the	the	DET
cuesj-1036	178	10	history	history	NOUN
cuesj-1036	178	11	of	of	ADP
cuesj-1036	178	12	drone	drone	NOUN
cuesj-1036	178	13	technology	technology	NOUN
cuesj-1036	178	14	says	say	VERB
cuesj-1036	178	15	about	about	ADP
cuesj-1036	178	16	its	its	PRON
cuesj-1036	178	17	future	future	NOUN
cuesj-1036	178	18	.	.	PUNCT
cuesj-1036	179	1	in	in	ADP
cuesj-1036	179	2	:	:	PUNCT
cuesj-1036	179	3	drone	drone	NOUN
cuesj-1036	179	4	wars	war	NOUN
cuesj-1036	179	5	:	:	PUNCT
cuesj-1036	179	6	transforming	transform	VERB
cuesj-1036	179	7	conflict	conflict	NOUN
cuesj-1036	179	8	,	,	PUNCT
cuesj-1036	179	9	law	law	NOUN
cuesj-1036	179	10	,	,	PUNCT
cuesj-1036	179	11	and	and	CCONJ
cuesj-1036	179	12	policy	policy	NOUN
cuesj-1036	179	13	,	,	PUNCT
cuesj-1036	179	14	cambridge	cambridge	PROPN
cuesj-1036	179	15	university	university	PROPN
cuesj-1036	179	16	press	press	PROPN
cuesj-1036	179	17	,	,	PUNCT
cuesj-1036	179	18	cambridge	cambridge	PROPN
cuesj-1036	179	19	,	,	PUNCT
cuesj-1036	179	20	pp359	pp359	PROPN
cuesj-1036	179	21	-	-	PUNCT
cuesj-1036	179	22	387	387	NUM
cuesj-1036	179	23	,	,	PUNCT
cuesj-1036	179	24	2015	2015	NUM
cuesj-1036	179	25	.	.	PUNCT
cuesj-1036	180	1	4	4	X
cuesj-1036	180	2	.	.	PUNCT
cuesj-1036	180	3	j.	j.	PROPN
cuesj-1036	180	4	b.	b.	PROPN
cuesj-1036	180	5	song	song	PROPN
cuesj-1036	180	6	and	and	CCONJ
cuesj-1036	180	7	s.	s.	PROPN
cuesj-1036	180	8	k.	k.	PROPN
cuesj-1036	180	9	byun	byun	PROPN
cuesj-1036	180	10	.	.	PUNCT
cuesj-1036	181	1	design	design	NOUN
cuesj-1036	181	2	and	and	CCONJ
cuesj-1036	181	3	control	control	NOUN
cuesj-1036	181	4	of	of	ADP
cuesj-1036	181	5	an	an	DET
cuesj-1036	181	6	omnidirectional	omnidirectional	ADJ
cuesj-1036	181	7	mobile	mobile	ADJ
cuesj-1036	181	8	robot	robot	NOUN
cuesj-1036	181	9	with	with	ADP
cuesj-1036	181	10	steerable	steerable	ADJ
cuesj-1036	181	11	omnidirectional	omnidirectional	ADJ
cuesj-1036	181	12	wheels	wheel	NOUN
cuesj-1036	181	13	.	.	PUNCT
cuesj-1036	182	1	in	in	ADP
cuesj-1036	182	2	:	:	PUNCT
cuesj-1036	182	3	mobile	mobile	ADJ
cuesj-1036	182	4	robotics	robotic	NOUN
cuesj-1036	182	5	,	,	PUNCT
cuesj-1036	182	6	moving	move	VERB
cuesj-1036	182	7	intelligence	intelligence	NOUN
cuesj-1036	182	8	.	.	PUNCT
cuesj-1036	183	1	intechopen	intechopen	PROPN
cuesj-1036	183	2	,	,	PUNCT
cuesj-1036	183	3	london	london	PROPN
cuesj-1036	183	4	,	,	PUNCT
cuesj-1036	183	5	2006	2006	NUM
cuesj-1036	183	6	.	.	PUNCT
cuesj-1036	184	1	5	5	NUM
cuesj-1036	184	2	.	.	X
cuesj-1036	184	3	l.	l.	PROPN
cuesj-1036	184	4	m.	m.	PROPN
cuesj-1036	184	5	sukma	sukma	PROPN
cuesj-1036	184	6	.	.	PUNCT
cuesj-1036	185	1	tracking	track	VERB
cuesj-1036	185	2	object	object	NOUN
cuesj-1036	185	3	based	base	VERB
cuesj-1036	185	4	on	on	ADP
cuesj-1036	185	5	gps	gps	PROPN
cuesj-1036	185	6	and	and	CCONJ
cuesj-1036	185	7	imu	imu	NOUN
cuesj-1036	185	8	sensor	sensor	NOUN
cuesj-1036	185	9	.	.	PUNCT
cuesj-1036	186	1	in	in	ADP
cuesj-1036	186	2	:	:	PUNCT
cuesj-1036	186	3	2018	2018	NUM
cuesj-1036	186	4	5th	5th	ADJ
cuesj-1036	186	5	international	international	ADJ
cuesj-1036	186	6	conference	conference	NOUN
cuesj-1036	186	7	on	on	ADP
cuesj-1036	186	8	information	information	NOUN
cuesj-1036	186	9	technology	technology	NOUN
cuesj-1036	186	10	,	,	PUNCT
cuesj-1036	186	11	computer	computer	NOUN
cuesj-1036	186	12	,	,	PUNCT
cuesj-1036	186	13	and	and	CCONJ
cuesj-1036	186	14	electrical	electrical	ADJ
cuesj-1036	186	15	engineering	engineering	NOUN
cuesj-1036	186	16	(	(	PUNCT
cuesj-1036	186	17	icitacee	icitacee	NOUN
cuesj-1036	186	18	)	)	PUNCT
cuesj-1036	186	19	.	.	PUNCT
cuesj-1036	187	1	ieee	ieee	PROPN
cuesj-1036	187	2	,	,	PUNCT
cuesj-1036	187	3	united	united	PROPN
cuesj-1036	187	4	states	states	PROPN
cuesj-1036	187	5	,	,	PUNCT
cuesj-1036	187	6	2018	2018	NUM
cuesj-1036	187	7	.	.	PUNCT
cuesj-1036	188	1	6	6	NUM
cuesj-1036	188	2	.	.	PUNCT
cuesj-1036	188	3	a.	a.	PROPN
cuesj-1036	188	4	laurell	laurell	PROPN
cuesj-1036	188	5	,	,	PUNCT
cuesj-1036	188	6	e.	e.	PROPN
cuesj-1036	188	7	karlsson	karlsson	PROPN
cuesj-1036	188	8	and	and	CCONJ
cuesj-1036	188	9	y.	y.	PROPN
cuesj-1036	188	10	naqqar	naqqar	PROPN
cuesj-1036	188	11	.	.	PUNCT
cuesj-1036	189	1	gps	gps	PROPN
cuesj-1036	189	2	and	and	CCONJ
cuesj-1036	189	3	imu	imu	NOUN
cuesj-1036	189	4	sensor	sensor	NOUN
cuesj-1036	189	5	fusion	fusion	NOUN
cuesj-1036	189	6	to	to	PART
cuesj-1036	189	7	improve	improve	VERB
cuesj-1036	189	8	velocity	velocity	NOUN
cuesj-1036	189	9	accuracy	accuracy	NOUN
cuesj-1036	189	10	.	.	PUNCT
cuesj-1036	190	1	uppsala	uppsala	PROPN
cuesj-1036	190	2	universitet	universitet	PROPN
cuesj-1036	190	3	,	,	PUNCT
cuesj-1036	190	4	sweden	sweden	PROPN
cuesj-1036	190	5	,	,	PUNCT
cuesj-1036	190	6	2022	2022	NUM
cuesj-1036	190	7	.	.	PUNCT
cuesj-1036	191	1	7	7	X
cuesj-1036	191	2	.	.	X
cuesj-1036	191	3	c.	c.	PROPN
cuesj-1036	191	4	ye	ye	PROPN
cuesj-1036	191	5	,	,	PUNCT
cuesj-1036	191	6	s.	s.	PROPN
cuesj-1036	191	7	ma	ma	PROPN
cuesj-1036	191	8	and	and	CCONJ
cuesj-1036	191	9	l.	l.	PROPN
cuesj-1036	191	10	hui	hui	PROPN
cuesj-1036	191	11	.	.	PUNCT
cuesj-1036	192	1	an	an	DET
cuesj-1036	192	2	omnidirectional	omnidirectional	ADJ
cuesj-1036	192	3	mobile	mobile	ADJ
cuesj-1036	192	4	robot	robot	NOUN
cuesj-1036	192	5	.	.	PUNCT
cuesj-1036	193	1	science	science	PROPN
cuesj-1036	193	2	china	china	PROPN
cuesj-1036	193	3	information	information	PROPN
cuesj-1036	193	4	sciences	sciences	PROPN
cuesj-1036	193	5	,	,	PUNCT
cuesj-1036	193	6	vol	vol	NOUN
cuesj-1036	193	7	.	.	PROPN
cuesj-1036	194	1	54	54	NUM
cuesj-1036	194	2	,	,	PUNCT
cuesj-1036	194	3	pp	pp	ADJ
cuesj-1036	194	4	.	.	PUNCT
cuesj-1036	195	1	2631	2631	NUM
cuesj-1036	195	2	-	-	PUNCT
cuesj-1036	195	3	2638	2638	NUM
cuesj-1036	195	4	,	,	PUNCT
cuesj-1036	195	5	2011	2011	NUM
cuesj-1036	195	6	.	.	PUNCT
cuesj-1036	196	1	8	8	NUM
cuesj-1036	196	2	.	.	PUNCT
cuesj-1036	196	3	f.	f.	PROPN
cuesj-1036	196	4	g.	g.	PROPN
cuesj-1036	196	5	francois	francois	PROPN
cuesj-1036	196	6	and	and	CCONJ
cuesj-1036	196	7	s.	s.	PROPN
cuesj-1036	196	8	m.	m.	PROPN
cuesj-1036	196	9	killough	killough	PROPN
cuesj-1036	196	10	.	.	PUNCT
cuesj-1036	197	1	a	a	DET
cuesj-1036	197	2	new	new	ADJ
cuesj-1036	197	3	family	family	NOUN
cuesj-1036	197	4	of	of	ADP
cuesj-1036	197	5	omnidirectional	omnidirectional	ADJ
cuesj-1036	197	6	and	and	CCONJ
cuesj-1036	197	7	holonomic	holonomic	ADJ
cuesj-1036	197	8	wheeled	wheeled	ADJ
cuesj-1036	197	9	platforms	platform	NOUN
cuesj-1036	197	10	for	for	ADP
cuesj-1036	197	11	mobile	mobile	ADJ
cuesj-1036	197	12	robots	robot	NOUN
cuesj-1036	197	13	.	.	PUNCT
cuesj-1036	198	1	ieee	ieee	NOUN
cuesj-1036	198	2	transactions	transaction	NOUN
cuesj-1036	198	3	on	on	ADP
cuesj-1036	198	4	robotics	robotic	NOUN
cuesj-1036	198	5	and	and	CCONJ
cuesj-1036	198	6	automation	automation	NOUN
cuesj-1036	198	7	,	,	PUNCT
cuesj-1036	198	8	vol	vol	NOUN
cuesj-1036	198	9	.	.	PROPN
cuesj-1036	199	1	10	10	NUM
cuesj-1036	199	2	,	,	PUNCT
cuesj-1036	199	3	no	no	INTJ
cuesj-1036	199	4	.	.	NOUN
cuesj-1036	199	5	4	4	NUM
cuesj-1036	199	6	,	,	PUNCT
cuesj-1036	199	7	pp	pp	ADJ
cuesj-1036	199	8	.	.	PUNCT
cuesj-1036	200	1	480489	480489	NUM
cuesj-1036	200	2	,	,	PUNCT
cuesj-1036	200	3	1994	1994	NUM
cuesj-1036	200	4	.	.	PUNCT
cuesj-1036	201	1	9	9	X
cuesj-1036	201	2	.	.	PUNCT
cuesj-1036	201	3	k.	k.	PROPN
cuesj-1036	201	4	g.	g.	PROPN
cuesj-1036	201	5	shanthi	shanthi	PROPN
cuesj-1036	201	6	,	,	PUNCT
cuesj-1036	201	7	s.	s.	PROPN
cuesj-1036	201	8	s.	s.	PROPN
cuesj-1036	201	9	vidhya	vidhya	PROPN
cuesj-1036	201	10	,	,	PUNCT
cuesj-1036	201	11	k.	k.	PROPN
cuesj-1036	201	12	vishakha	vishakha	PROPN
cuesj-1036	201	13	,	,	PUNCT
cuesj-1036	201	14	s.	s.	PROPN
cuesj-1036	201	15	subiksha	subiksha	PROPN
cuesj-1036	201	16	,	,	PUNCT
cuesj-1036	201	17	k.	k.	PROPN
cuesj-1036	201	18	k.	k.	PROPN
cuesj-1036	201	19	srija	srija	PROPN
cuesj-1036	201	20	and	and	CCONJ
cuesj-1036	201	21	r.	r.	PROPN
cuesj-1036	201	22	s.	s.	PROPN
cuesj-1036	201	23	mamtha	mamtha	PROPN
cuesj-1036	201	24	.	.	PUNCT
cuesj-1036	202	1	haar	haar	PROPN
cuesj-1036	202	2	cascade	cascade	NOUN
cuesj-1036	202	3	face	face	NOUN
cuesj-1036	202	4	detection	detection	NOUN
cuesj-1036	202	5	and	and	CCONJ
cuesj-1036	202	6	local	local	ADJ
cuesj-1036	202	7	binary	binary	ADJ
cuesj-1036	202	8	pattern	pattern	NOUN
cuesj-1036	202	9	histogram	histogram	NOUN
cuesj-1036	202	10	face	face	NOUN
cuesj-1036	202	11	recognition	recognition	NOUN
cuesj-1036	202	12	based	base	VERB
cuesj-1036	202	13	drone	drone	NOUN
cuesj-1036	202	14	.	.	PUNCT
cuesj-1036	203	1	in	in	ADP
cuesj-1036	203	2	:	:	PUNCT
cuesj-1036	203	3	2022	2022	NUM
cuesj-1036	203	4	8th	8th	ADJ
cuesj-1036	203	5	international	international	ADJ
cuesj-1036	203	6	conference	conference	NOUN
cuesj-1036	203	7	on	on	ADP
cuesj-1036	203	8	advanced	advanced	ADJ
cuesj-1036	203	9	computing	computing	NOUN
cuesj-1036	203	10	and	and	CCONJ
cuesj-1036	203	11	communication	communication	NOUN
cuesj-1036	203	12	systems	system	NOUN
cuesj-1036	203	13	(	(	PUNCT
cuesj-1036	203	14	icaccs	icaccs	NOUN
cuesj-1036	203	15	)	)	PUNCT
cuesj-1036	203	16	.	.	PUNCT
cuesj-1036	204	1	vol	vol	NOUN
cuesj-1036	204	2	.	.	PROPN
cuesj-1036	205	1	1	1	NUM
cuesj-1036	205	2	.	.	X
cuesj-1036	206	1	pp	pp	ADJ
cuesj-1036	206	2	.	.	PUNCT
cuesj-1036	207	1	295	295	NUM
cuesj-1036	207	2	-	-	SYM
cuesj-1036	207	3	298	298	NUM
cuesj-1036	207	4	,	,	PUNCT
cuesj-1036	207	5	2022	2022	NUM
cuesj-1036	207	6	.	.	PUNCT
cuesj-1036	208	1	10	10	NUM
cuesj-1036	208	2	.	.	PUNCT
cuesj-1036	208	3	a.	a.	NOUN
cuesj-1036	208	4	p.	p.	PROPN
cuesj-1036	208	5	atmaja	atmaja	PROPN
cuesj-1036	208	6	,	,	PUNCT
cuesj-1036	208	7	s.	s.	PROPN
cuesj-1036	208	8	b.	b.	PROPN
cuesj-1036	208	9	setyawan	setyawan	PROPN
cuesj-1036	208	10	,	,	PUNCT
cuesj-1036	208	11	l.	l.	PROPN
cuesj-1036	208	12	d.	d.	PROPN
cuesj-1036	208	13	setia	setia	PROPN
cuesj-1036	208	14	,	,	PUNCT
cuesj-1036	208	15	s.	s.	PROPN
cuesj-1036	208	16	v.	v.	PROPN
cuesj-1036	208	17	yulianto	yulianto	PROPN
cuesj-1036	208	18	,	,	PUNCT
cuesj-1036	208	19	b.	b.	PROPN
cuesj-1036	208	20	winarno	winarno	NOUN
cuesj-1036	208	21	and	and	CCONJ
cuesj-1036	208	22	t.	t.	PROPN
cuesj-1036	208	23	lestariningsih	lestariningsih	PROPN
cuesj-1036	208	24	.	.	PUNCT
cuesj-1036	209	1	face	face	NOUN
cuesj-1036	209	2	recognition	recognition	NOUN
cuesj-1036	209	3	system	system	NOUN
cuesj-1036	209	4	using	use	VERB
cuesj-1036	209	5	micro	micro	ADJ
cuesj-1036	209	6	unmanned	unmanned	ADJ
cuesj-1036	209	7	aerial	aerial	ADJ
cuesj-1036	209	8	vehicle	vehicle	NOUN
cuesj-1036	209	9	.	.	PUNCT
cuesj-1036	210	1	journal	journal	PROPN
cuesj-1036	210	2	of	of	ADP
cuesj-1036	210	3	physics	physics	PROPN
cuesj-1036	210	4	:	:	PUNCT
cuesj-1036	210	5	conference	conference	NOUN
cuesj-1036	210	6	series	series	NOUN
cuesj-1036	210	7	.	.	PUNCT
cuesj-1036	211	1	vol	vol	NOUN
cuesj-1036	211	2	.	.	PROPN
cuesj-1036	212	1	1845	1845	NUM
cuesj-1036	212	2	,	,	PUNCT
cuesj-1036	212	3	no	no	INTJ
cuesj-1036	212	4	.	.	NOUN
cuesj-1036	212	5	1	1	NUM
cuesj-1036	212	6	,	,	PUNCT
cuesj-1036	212	7	p.	p.	NOUN
cuesj-1036	212	8	012043	012043	NUM
cuesj-1036	212	9	,	,	PUNCT
cuesj-1036	212	10	2021	2021	NUM
cuesj-1036	212	11	.	.	PUNCT
cuesj-1036	213	1	11	11	NUM
cuesj-1036	213	2	.	.	PUNCT
cuesj-1036	214	1	k.	k.	PROPN
cuesj-1036	214	2	g.	g.	PROPN
cuesj-1036	214	3	shanthi	shanthi	PROPN
cuesj-1036	214	4	and	and	CCONJ
cuesj-1036	214	5	p.	p.	PROPN
cuesj-1036	214	6	sivalakshmi	sivalakshmi	PROPN
cuesj-1036	214	7	.	.	PUNCT
cuesj-1036	215	1	smart	smart	ADJ
cuesj-1036	215	2	drone	drone	NOUN
cuesj-1036	215	3	with	with	ADP
cuesj-1036	215	4	real	real	ADJ
cuesj-1036	215	5	time	time	NOUN
cuesj-1036	215	6	face	face	NOUN
cuesj-1036	215	7	recognition	recognition	NOUN
cuesj-1036	215	8	.	.	PUNCT
cuesj-1036	216	1	materials	material	NOUN
cuesj-1036	216	2	today	today	NOUN
cuesj-1036	216	3	:	:	PUNCT
cuesj-1036	216	4	proceedings	proceeding	NOUN
cuesj-1036	216	5	,	,	PUNCT
cuesj-1036	216	6	vol	vol	NOUN
cuesj-1036	216	7	.	.	PROPN
cuesj-1036	216	8	80	80	NUM
cuesj-1036	216	9	,	,	PUNCT
cuesj-1036	216	10	pp	pp	ADJ
cuesj-1036	216	11	.	.	PUNCT
cuesj-1036	216	12	3212	3212	NUM
cuesj-1036	216	13	-	-	SYM
cuesj-1036	216	14	321	321	NUM
cuesj-1036	216	15	,	,	PUNCT
cuesj-1036	216	16	2023	2023	NUM
cuesj-1036	216	17	.	.	PUNCT
cuesj-1036	217	1	12	12	NUM
cuesj-1036	217	2	.	.	PUNCT
cuesj-1036	217	3	l.	l.	PROPN
cuesj-1036	217	4	wang	wang	PROPN
cuesj-1036	217	5	and	and	CCONJ
cuesj-1036	217	6	a.	a.	NOUN
cuesj-1036	217	7	a.	a.	NOUN
cuesj-1036	217	8	siddique	siddique	PROPN
cuesj-1036	217	9	.	.	PUNCT
cuesj-1036	218	1	facial	facial	ADJ
cuesj-1036	218	2	recognition	recognition	NOUN
cuesj-1036	218	3	system	system	NOUN
cuesj-1036	218	4	using	use	VERB
cuesj-1036	218	5	lbph	lbph	NOUN
cuesj-1036	218	6	face	face	NOUN
cuesj-1036	218	7	recognizer	recognizer	NOUN
cuesj-1036	218	8	for	for	ADP
cuesj-1036	218	9	anti	anti	ADJ
cuesj-1036	218	10	-	-	ADJ
cuesj-1036	218	11	theft	theft	ADJ
cuesj-1036	218	12	and	and	CCONJ
cuesj-1036	218	13	surveillance	surveillance	NOUN
cuesj-1036	218	14	application	application	NOUN
cuesj-1036	218	15	based	base	VERB
cuesj-1036	218	16	on	on	ADP
cuesj-1036	218	17	drone	drone	NOUN
cuesj-1036	218	18	technology	technology	NOUN
cuesj-1036	218	19	.	.	PUNCT
cuesj-1036	219	1	measurement	measurement	NOUN
cuesj-1036	219	2	and	and	CCONJ
cuesj-1036	219	3	control	control	NOUN
cuesj-1036	219	4	.	.	PUNCT
cuesj-1036	220	1	vol	vol	NOUN
cuesj-1036	220	2	.	.	PROPN
cuesj-1036	221	1	53	53	NUM
cuesj-1036	221	2	,	,	PUNCT
cuesj-1036	221	3	no	no	INTJ
cuesj-1036	221	4	.	.	PUNCT
cuesj-1036	222	1	(	(	PUNCT
cuesj-1036	222	2	7	7	NUM
cuesj-1036	222	3	-	-	SYM
cuesj-1036	222	4	8)	8)	NUM
cuesj-1036	222	5	,	,	PUNCT
cuesj-1036	222	6	pp	pp	ADJ
cuesj-1036	222	7	.	.	PUNCT
cuesj-1036	222	8	1070	1070	NUM
cuesj-1036	222	9	-	-	SYM
cuesj-1036	222	10	1077	1077	NUM
cuesj-1036	222	11	,	,	PUNCT
cuesj-1036	222	12	2020	2020	NUM
cuesj-1036	222	13	.	.	PUNCT
cuesj-1036	223	1	13	13	NUM
cuesj-1036	223	2	.	.	PUNCT
cuesj-1036	223	3	b.	b.	PROPN
cuesj-1036	223	4	vergouw	vergouw	PROPN
cuesj-1036	223	5	,	,	PUNCT
cuesj-1036	223	6	h.	h.	PROPN
cuesj-1036	223	7	nagel	nagel	PROPN
cuesj-1036	223	8	,	,	PUNCT
cuesj-1036	223	9	g.	g.	PROPN
cuesj-1036	223	10	bondt	bondt	PROPN
cuesj-1036	223	11	and	and	CCONJ
cuesj-1036	223	12	b.	b.	PROPN
cuesj-1036	223	13	custers	custer	NOUN
cuesj-1036	223	14	.	.	PUNCT
cuesj-1036	224	1	drone	drone	NOUN
cuesj-1036	224	2	technology	technology	NOUN
cuesj-1036	224	3	:	:	PUNCT
cuesj-1036	224	4	types	type	NOUN
cuesj-1036	224	5	,	,	PUNCT
cuesj-1036	224	6	payloads	payload	NOUN
cuesj-1036	224	7	,	,	PUNCT
cuesj-1036	224	8	applications	application	NOUN
cuesj-1036	224	9	,	,	PUNCT
cuesj-1036	224	10	frequency	frequency	NOUN
cuesj-1036	224	11	spectrum	spectrum	NOUN
cuesj-1036	224	12	issues	issue	NOUN
cuesj-1036	224	13	and	and	CCONJ
cuesj-1036	224	14	future	future	ADJ
cuesj-1036	224	15	developments	development	NOUN
cuesj-1036	224	16	.	.	PUNCT
cuesj-1036	225	1	in	in	ADP
cuesj-1036	225	2	:	:	PUNCT
cuesj-1036	225	3	the	the	DET
cuesj-1036	225	4	future	future	NOUN
cuesj-1036	225	5	of	of	ADP
cuesj-1036	225	6	drone	drone	NOUN
cuesj-1036	225	7	use	use	NOUN
cuesj-1036	225	8	:	:	PUNCT
cuesj-1036	225	9	opportunities	opportunity	NOUN
cuesj-1036	225	10	and	and	CCONJ
cuesj-1036	225	11	threats	threat	NOUN
cuesj-1036	225	12	from	from	ADP
cuesj-1036	225	13	ethical	ethical	ADJ
cuesj-1036	225	14	and	and	CCONJ
cuesj-1036	225	15	legal	legal	ADJ
cuesj-1036	225	16	perspectives	perspective	NOUN
cuesj-1036	225	17	,	,	PUNCT
cuesj-1036	225	18	springer	springer	NOUN
cuesj-1036	225	19	,	,	PUNCT
cuesj-1036	225	20	germany	germany	PROPN
cuesj-1036	225	21	,	,	PUNCT
cuesj-1036	225	22	pp	pp	X
cuesj-1036	225	23	.	.	PUNCT
cuesj-1036	225	24	21	21	NUM
cuesj-1036	225	25	-	-	SYM
cuesj-1036	225	26	45	45	NUM
cuesj-1036	225	27	,	,	PUNCT
cuesj-1036	225	28	2016	2016	NUM
cuesj-1036	225	29	.	.	PUNCT
cuesj-1036	226	1	14	14	NUM
cuesj-1036	226	2	.	.	PUNCT
cuesj-1036	226	3	a.	a.	PROPN
cuesj-1036	226	4	s.	s.	PROPN
cuesj-1036	226	5	priambodo	priambodo	PROPN
cuesj-1036	226	6	,	,	PUNCT
cuesj-1036	226	7	f.	f.	PROPN
cuesj-1036	226	8	arifin	arifin	PROPN
cuesj-1036	226	9	,	,	PUNCT
cuesj-1036	226	10	a.	a.	NOUN
cuesj-1036	226	11	nasuha	nasuha	NOUN
cuesj-1036	226	12	and	and	CCONJ
cuesj-1036	226	13	a.	a.	NOUN
cuesj-1036	226	14	winursito	winursito	PROPN
cuesj-1036	226	15	.	.	PUNCT
cuesj-1036	227	1	face	face	NOUN
cuesj-1036	227	2	tracking	track	VERB
cuesj-1036	227	3	for	for	ADP
cuesj-1036	227	4	flying	fly	VERB
cuesj-1036	227	5	robot	robot	NOUN
cuesj-1036	227	6	quadcopter	quadcopter	NOUN
cuesj-1036	227	7	based	base	VERB
cuesj-1036	227	8	on	on	ADP
cuesj-1036	227	9	haar	haar	NOUN
cuesj-1036	227	10	cascade	cascade	NOUN
cuesj-1036	227	11	classifier	classifier	NOUN
cuesj-1036	227	12	and	and	CCONJ
cuesj-1036	227	13	pid	pid	NOUN
cuesj-1036	227	14	controller	controller	PROPN
cuesj-1036	227	15	.	.	PUNCT
cuesj-1036	227	16	journal	journal	PROPN
cuesj-1036	227	17	of	of	ADP
cuesj-1036	227	18	physics	physics	PROPN
cuesj-1036	227	19	:	:	PUNCT
cuesj-1036	227	20	conference	conference	NOUN
cuesj-1036	227	21	series	series	NOUN
cuesj-1036	227	22	.	.	PUNCT
cuesj-1036	228	1	vol	vol	NOUN
cuesj-1036	228	2	.	.	PUNCT
cuesj-1036	229	1	2111	2111	NUM
cuesj-1036	229	2	,	,	PUNCT
cuesj-1036	229	3	no	no	INTJ
cuesj-1036	229	4	.	.	NOUN
cuesj-1036	229	5	1	1	NUM
cuesj-1036	229	6	,	,	PUNCT
cuesj-1036	229	7	p.	p.	NOUN
cuesj-1036	229	8	012046	012046	NUM
cuesj-1036	229	9	,	,	PUNCT
cuesj-1036	229	10	2021	2021	NUM
cuesj-1036	229	11	.	.	PUNCT
cuesj-1036	230	1	15	15	NUM
cuesj-1036	230	2	.	.	PUNCT
cuesj-1036	230	3	a.	a.	NOUN
cuesj-1036	230	4	kasinski	kasinski	PROPN
cuesj-1036	230	5	and	and	CCONJ
cuesj-1036	230	6	s.	s.	PROPN
cuesj-1036	230	7	adam	adam	PROPN
cuesj-1036	230	8	.	.	PUNCT
cuesj-1036	231	1	the	the	DET
cuesj-1036	231	2	architecture	architecture	NOUN
cuesj-1036	231	3	and	and	CCONJ
cuesj-1036	231	4	performance	performance	NOUN
cuesj-1036	231	5	of	of	ADP
cuesj-1036	231	6	the	the	DET
cuesj-1036	231	7	face	face	NOUN
cuesj-1036	231	8	and	and	CCONJ
cuesj-1036	231	9	eyes	eye	NOUN
cuesj-1036	231	10	detection	detection	NOUN
cuesj-1036	231	11	system	system	NOUN
cuesj-1036	231	12	based	base	VERB
cuesj-1036	231	13	on	on	ADP
cuesj-1036	231	14	the	the	DET
cuesj-1036	231	15	haar	haar	NOUN
cuesj-1036	231	16	cascade	cascade	NOUN
cuesj-1036	231	17	classifiers	classifier	NOUN
cuesj-1036	231	18	.	.	PUNCT
cuesj-1036	232	1	pattern	pattern	NOUN
cuesj-1036	232	2	analysis	analysis	NOUN
cuesj-1036	232	3	and	and	CCONJ
cuesj-1036	232	4	applications	application	NOUN
cuesj-1036	232	5	,	,	PUNCT
cuesj-1036	232	6	vol	vol	NOUN
cuesj-1036	232	7	.	.	PROPN
cuesj-1036	232	8	13	13	NUM
cuesj-1036	232	9	,	,	PUNCT
cuesj-1036	232	10	no	no	INTJ
cuesj-1036	232	11	.	.	PUNCT
cuesj-1036	233	1	pp	pp	ADJ
cuesj-1036	233	2	.	.	PUNCT
cuesj-1036	234	1	197211	197211	NUM
cuesj-1036	234	2	,	,	PUNCT
cuesj-1036	234	3	2010	2010	NUM
cuesj-1036	234	4	.	.	PUNCT
cuesj-1036	235	1	16	16	NUM
cuesj-1036	235	2	.	.	PUNCT
cuesj-1036	236	1	r.	r.	PROPN
cuesj-1036	236	2	lienhart	lienhart	PROPN
cuesj-1036	236	3	,	,	PUNCT
cuesj-1036	236	4	a.	a.	NOUN
cuesj-1036	236	5	kuranov	kuranov	NOUN
cuesj-1036	236	6	and	and	CCONJ
cuesj-1036	236	7	v.	v.	ADP
cuesj-1036	236	8	pisarevsky	pisarevsky	NOUN
cuesj-1036	236	9	.	.	PUNCT
cuesj-1036	237	1	empirical	empirical	ADJ
cuesj-1036	237	2	analysis	analysis	NOUN
cuesj-1036	237	3	of	of	ADP
cuesj-1036	237	4	detection	detection	NOUN
cuesj-1036	237	5	cascades	cascade	NOUN
cuesj-1036	237	6	of	of	ADP
cuesj-1036	237	7	boosted	boost	VERB
cuesj-1036	237	8	classifiers	classifier	NOUN
cuesj-1036	237	9	for	for	ADP
cuesj-1036	237	10	rapid	rapid	ADJ
cuesj-1036	237	11	object	object	NOUN
cuesj-1036	237	12	detection	detection	NOUN
cuesj-1036	237	13	.	.	PUNCT
cuesj-1036	238	1	in	in	ADP
cuesj-1036	238	2	:	:	PUNCT
cuesj-1036	238	3	pattern	pattern	NOUN
cuesj-1036	238	4	recognition	recognition	NOUN
cuesj-1036	238	5	:	:	PUNCT
cuesj-1036	238	6	25th	25th	NOUN
cuesj-1036	238	7	dagm	dagm	NOUN
cuesj-1036	238	8	symposium	symposium	NOUN
cuesj-1036	238	9	,	,	PUNCT
cuesj-1036	238	10	magdeburg	magdeburg	PROPN
cuesj-1036	238	11	,	,	PUNCT
cuesj-1036	238	12	germany	germany	PROPN
cuesj-1036	238	13	,	,	PUNCT
cuesj-1036	238	14	september	september	PROPN
cuesj-1036	238	15	10	10	NUM
cuesj-1036	238	16	-	-	SYM
cuesj-1036	238	17	12	12	NUM
cuesj-1036	238	18	,	,	PUNCT
cuesj-1036	238	19	2003	2003	NUM
cuesj-1036	238	20	.	.	PUNCT
cuesj-1036	238	21	proceedings	proceeding	NOUN
cuesj-1036	238	22	25	25	NUM
cuesj-1036	238	23	.	.	PUNCT
cuesj-1036	238	24	springer	springer	NOUN
cuesj-1036	238	25	,	,	PUNCT
cuesj-1036	238	26	berlin	berlin	PROPN
cuesj-1036	238	27	,	,	PUNCT
cuesj-1036	238	28	heidelberg	heidelberg	PROPN
cuesj-1036	238	29	,	,	PUNCT
cuesj-1036	238	30	2003	2003	NUM
cuesj-1036	238	31	.	.	PUNCT
cuesj-1036	239	1	17	17	NUM
cuesj-1036	239	2	.	.	PUNCT
cuesj-1036	239	3	a.	a.	PROPN
cuesj-1036	239	4	l.	l.	PROPN
cuesj-1036	239	5	salih	salih	PROPN
cuesj-1036	239	6	,	,	PUNCT
cuesj-1036	239	7	m.	m.	NOUN
cuesj-1036	239	8	moghavvemi	moghavvemi	NOUN
cuesj-1036	239	9	,	,	PUNCT
cuesj-1036	239	10	m.	m.	NOUN
cuesj-1036	239	11	haf	haf	PROPN
cuesj-1036	239	12	and	and	CCONJ
cuesj-1036	239	13	k.	k.	PROPN
cuesj-1036	239	14	gaeid	gaeid	PROPN
cuesj-1036	239	15	.	.	PUNCT
cuesj-1036	240	1	flight	flight	NOUN
cuesj-1036	240	2	pid	pid	NOUN
cuesj-1036	240	3	controller	controller	NOUN
cuesj-1036	240	4	design	design	NOUN
cuesj-1036	240	5	for	for	ADP
cuesj-1036	240	6	a	a	DET
cuesj-1036	240	7	uav	uav	PROPN
cuesj-1036	240	8	quadrotor	quadrotor	NOUN
cuesj-1036	240	9	.	.	PUNCT
cuesj-1036	241	1	scientific	scientific	ADJ
cuesj-1036	241	2	research	research	NOUN
cuesj-1036	241	3	and	and	CCONJ
cuesj-1036	241	4	essays	essay	NOUN
cuesj-1036	241	5	,	,	PUNCT
cuesj-1036	241	6	vol	vol	NOUN
cuesj-1036	241	7	.	.	PROPN
cuesj-1036	241	8	5	5	NUM
cuesj-1036	241	9	,	,	PUNCT
cuesj-1036	241	10	no	no	INTJ
cuesj-1036	241	11	.	.	NOUN
cuesj-1036	241	12	23	23	NUM
cuesj-1036	241	13	,	,	PUNCT
cuesj-1036	241	14	pp	pp	ADJ
cuesj-1036	241	15	.	.	PUNCT
cuesj-1036	241	16	3660	3660	NUM
cuesj-1036	241	17	-	-	SYM
cuesj-1036	241	18	3667	3667	NUM
cuesj-1036	241	19	,	,	PUNCT
cuesj-1036	241	20	2010	2010	NUM
cuesj-1036	241	21	.	.	PUNCT
cuesj-1036	242	1	18	18	NUM
cuesj-1036	242	2	.	.	PUNCT
cuesj-1036	242	3	w.	w.	PROPN
cuesj-1036	242	4	raza	raza	PROPN
cuesj-1036	242	5	,	,	PUNCT
cuesj-1036	242	6	a.	a.	NOUN
cuesj-1036	242	7	osman	osman	PROPN
cuesj-1036	242	8	,	,	PUNCT
cuesj-1036	242	9	f.	f.	PROPN
cuesj-1036	242	10	ferrini	ferrini	PROPN
cuesj-1036	242	11	and	and	CCONJ
cuesj-1036	242	12	f.	f.	PROPN
cuesj-1036	242	13	de	de	PROPN
cuesj-1036	242	14	natale	natale	PROPN
cuesj-1036	242	15	.	.	PUNCT
cuesj-1036	243	1	energy	energy	NOUN
cuesj-1036	243	2	-	-	PUNCT
cuesj-1036	243	3	efficient	efficient	ADJ
cuesj-1036	243	4	inference	inference	NOUN
cuesj-1036	243	5	on	on	ADP
cuesj-1036	243	6	the	the	DET
cuesj-1036	243	7	edge	edge	NOUN
cuesj-1036	243	8	exploiting	exploit	VERB
cuesj-1036	243	9	tinyml	tinyml	ADJ
cuesj-1036	243	10	capabilities	capability	NOUN
cuesj-1036	243	11	for	for	ADP
cuesj-1036	243	12	uavs	uavs	NOUN
cuesj-1036	243	13	.	.	PUNCT
cuesj-1036	244	1	drones	drone	NOUN
cuesj-1036	244	2	,	,	PUNCT
cuesj-1036	244	3	vol	vol	NOUN
cuesj-1036	244	4	.	.	PROPN
cuesj-1036	244	5	5	5	NUM
cuesj-1036	244	6	,	,	PUNCT
cuesj-1036	244	7	no	no	INTJ
cuesj-1036	244	8	.	.	NOUN
cuesj-1036	244	9	4	4	NUM
cuesj-1036	244	10	,	,	PUNCT
cuesj-1036	244	11	p.	p.	NOUN
cuesj-1036	244	12	127	127	NUM
cuesj-1036	244	13	,	,	PUNCT
cuesj-1036	244	14	2021	2021	NUM
cuesj-1036	244	15	.	.	PUNCT
cuesj-1036	245	1	19	19	NUM
cuesj-1036	245	2	.	.	PUNCT
cuesj-1036	245	3	g.	g.	PROPN
cuesj-1036	245	4	c.	c.	PROPN
cuesj-1036	245	5	goodwin	goodwin	PROPN
cuesj-1036	245	6	,	,	PUNCT
cuesj-1036	245	7	s.	s.	PROPN
cuesj-1036	245	8	f.	f.	PROPN
cuesj-1036	245	9	graebe	graebe	PROPN
cuesj-1036	245	10	and	and	CCONJ
cuesj-1036	245	11	m.	m.	PROPN
cuesj-1036	245	12	e.	e.	PROPN
cuesj-1036	245	13	salgado	salgado	PROPN
cuesj-1036	245	14	.	.	PUNCT
cuesj-1036	246	1	control	control	NOUN
cuesj-1036	246	2	system	system	NOUN
cuesj-1036	246	3	design	design	NOUN
cuesj-1036	246	4	.	.	PUNCT
cuesj-1036	247	1	ieee	ieee	PROPN
cuesj-1036	247	2	control	control	PROPN
cuesj-1036	247	3	systems	systems	PROPN
cuesj-1036	247	4	,	,	PUNCT
cuesj-1036	247	5	united	united	PROPN
cuesj-1036	247	6	states	states	PROPN
cuesj-1036	247	7	,	,	PUNCT
cuesj-1036	247	8	2007	2007	NUM
cuesj-1036	247	9	.	.	PUNCT
cuesj-1036	248	1	20	20	NUM
cuesj-1036	248	2	.	.	PUNCT
cuesj-1036	248	3	i.	i.	PROPN
cuesj-1036	248	4	c.	c.	PROPN
cuesj-1036	248	5	pérez	pérez	PROPN
cuesj-1036	248	6	,	,	PUNCT
cuesj-1036	248	7	d.	d.	PROPN
cuesj-1036	248	8	flores	flores	PROPN
cuesj-1036	248	9	-	-	PUNCT
cuesj-1036	248	10	araiza	araiza	PROPN
cuesj-1036	248	11	,	,	PUNCT
cuesj-1036	248	12	j.	j.	PROPN
cuesj-1036	248	13	a.	a.	PROPN
cuesj-1036	248	14	fortoul	fortoul	PROPN
cuesj-1036	248	15	-	-	PUNCT
cuesj-1036	248	16	díaz	díaz	NOUN
cuesj-1036	248	17	,	,	PUNCT
cuesj-1036	248	18	r.	r.	PROPN
cuesj-1036	248	19	maximo	maximo	PROPN
cuesj-1036	248	20	and	and	CCONJ
cuesj-1036	248	21	h.	h.	PROPN
cuesj-1036	248	22	g.	g.	PROPN
cuesj-1036	248	23	gonzalez	gonzalez	PROPN
cuesj-1036	248	24	-	-	PUNCT
cuesj-1036	248	25	hernandez	hernandez	PROPN
cuesj-1036	248	26	.	.	PUNCT
cuesj-1036	249	1	identification	identification	NOUN
cuesj-1036	249	2	and	and	CCONJ
cuesj-1036	249	3	pid	pid	NOUN
cuesj-1036	249	4	control	control	NOUN
cuesj-1036	249	5	for	for	ADP
cuesj-1036	249	6	a	a	DET
cuesj-1036	249	7	quadrocopter	quadrocopter	NOUN
cuesj-1036	249	8	.	.	PUNCT
cuesj-1036	250	1	in	in	ADP
cuesj-1036	250	2	:	:	PUNCT
cuesj-1036	250	3	2014	2014	NUM
cuesj-1036	250	4	international	international	ADJ
cuesj-1036	250	5	conference	conference	NOUN
cuesj-1036	250	6	on	on	ADP
cuesj-1036	250	7	electronics	electronic	NOUN
cuesj-1036	250	8	,	,	PUNCT
cuesj-1036	250	9	communications	communication	NOUN
cuesj-1036	250	10	and	and	CCONJ
cuesj-1036	250	11	computers	computer	NOUN
cuesj-1036	250	12	(	(	PUNCT
cuesj-1036	250	13	conielecomp	conielecomp	ADJ
cuesj-1036	250	14	)	)	PUNCT
cuesj-1036	250	15	.	.	PUNCT
cuesj-1036	251	1	ieee	ieee	PROPN
cuesj-1036	251	2	,	,	PUNCT
cuesj-1036	251	3	united	united	PROPN
cuesj-1036	251	4	states	states	PROPN
cuesj-1036	251	5	.	.	PUNCT
cuesj-1036	252	1	2014	2014	NUM
cuesj-1036	252	2	.	.	PUNCT
cuesj-1036	253	1	21	21	NUM
cuesj-1036	253	2	.	.	PUNCT
cuesj-1036	253	3	w.	w.	PROPN
cuesj-1036	253	4	bolton	bolton	PROPN
cuesj-1036	253	5	.	.	PUNCT
cuesj-1036	254	1	programmable	programmable	ADJ
cuesj-1036	254	2	logic	logic	NOUN
cuesj-1036	254	3	controllers	controller	NOUN
cuesj-1036	254	4	fourth	fourth	PROPN
cuesj-1036	254	5	edition	edition	NOUN
cuesj-1036	254	6	.	.	PUNCT
cuesj-1036	255	1	in	in	ADP
cuesj-1036	255	2	:	:	PUNCT
cuesj-1036	255	3	africa	africa	PROPN
cuesj-1036	255	4	’s	’s	PART
cuesj-1036	255	5	potential	potential	NOUN
cuesj-1036	255	6	for	for	ADP
cuesj-1036	255	7	the	the	DET
cuesj-1036	255	8	ecological	ecological	ADJ
cuesj-1036	255	9	intensification	intensification	NOUN
cuesj-1036	255	10	of	of	ADP
cuesj-1036	255	11	agriculture	agriculture	NOUN
cuesj-1036	255	12	,	,	PUNCT
cuesj-1036	255	13	elsevier	elsevier	NOUN
cuesj-1036	255	14	,	,	PUNCT
cuesj-1036	255	15	amsterdam	amsterdam	PROPN
cuesj-1036	255	16	,	,	PUNCT
cuesj-1036	255	17	2006	2006	NUM
cuesj-1036	255	18	.	.	PUNCT
cuesj-1036	256	1	22	22	NUM
cuesj-1036	256	2	.	.	PUNCT
cuesj-1036	256	3	d.	d.	PROPN
cuesj-1036	256	4	nixon	nixon	PROPN
cuesj-1036	256	5	,	,	PUNCT
cuesj-1036	256	6	a.	a.	NOUN
cuesj-1036	256	7	mironov	mironov	PROPN
cuesj-1036	256	8	,	,	PUNCT
cuesj-1036	256	9	m.	m.	NOUN
cuesj-1036	256	10	a.	a.	PROPN
cuesj-1036	256	11	m.	m.	PROPN
cuesj-1036	256	12	martinez	martinez	PROPN
cuesj-1036	256	13	,	,	PUNCT
cuesj-1036	256	14	j.	j.	PROPN
cuesj-1036	256	15	blackman	blackman	PROPN
cuesj-1036	256	16	,	,	PUNCT
cuesj-1036	256	17	codecae	codecae	PROPN
cuesj-1036	256	18	,	,	PUNCT
cuesj-1036	256	19	b.	b.	PROPN
cuesj-1036	256	20	luckcuck	luckcuck	PROPN
cuesj-1036	256	21	,	,	PUNCT
cuesj-1036	256	22	a.	a.	PROPN
cuesj-1036	256	23	christensen	christensen	PROPN
cuesj-1036	256	24	,	,	PUNCT
cuesj-1036	256	25	d.	d.	PROPN
cuesj-1036	256	26	clifton	clifton	PROPN
cuesj-1036	256	27	,	,	PUNCT
cuesj-1036	256	28	m.	m.	PROPN
cuesj-1036	256	29	keller	keller	PROPN
cuesj-1036	256	30	,	,	PUNCT
cuesj-1036	256	31	r.	r.	PROPN
cuesj-1036	256	32	coeffic	coeffic	PROPN
cuesj-1036	256	33	and	and	CCONJ
cuesj-1036	256	34	s.	s.	PROPN
cuesj-1036	256	35	windoffe	windoffe	PROPN
cuesj-1036	256	36	.	.	PUNCT
cuesj-1036	257	1	betaflight	betaflight	NOUN
cuesj-1036	257	2	.	.	PUNCT
cuesj-1036	258	1	available	available	ADJ
cuesj-1036	258	2	from	from	ADP
cuesj-1036	258	3	:	:	PUNCT
cuesj-1036	258	4	https://github.com/	https://github.com/	PROPN
cuesj-1036	258	5	betaflight	betaflight	NOUN
cuesj-1036	258	6	/	/	SYM
cuesj-1036	258	7	betaflight	betaflight	NOUN
cuesj-1036	259	1	[	[	X
cuesj-1036	259	2	last	last	ADV
cuesj-1036	259	3	accessed	access	VERB
cuesj-1036	259	4	on	on	ADP
cuesj-1036	259	5	2022	2022	NUM
cuesj-1036	259	6	dec	dec	PROPN
cuesj-1036	259	7	20	20	NUM
cuesj-1036	259	8	]	]	PUNCT
cuesj-1036	259	9	.	.	PUNCT
cuesj-1036	260	1	table	table	NOUN
cuesj-1036	260	2	3	3	NUM
cuesj-1036	260	3	:	:	PUNCT
cuesj-1036	260	4	the	the	DET
cuesj-1036	260	5	output	output	NOUN
cuesj-1036	260	6	of	of	ADP
cuesj-1036	260	7	pid	pid	NOUN
cuesj-1036	260	8	for	for	ADP
cuesj-1036	260	9	the	the	DET
cuesj-1036	260	10	drone	drone	NOUN
cuesj-1036	260	11	movements	movement	NOUN
cuesj-1036	260	12	movement	movement	NOUN
cuesj-1036	261	1	p	p	X
cuesj-1036	262	1	i	i	PRON
cuesj-1036	262	2	d	d	PROPN
cuesj-1036	262	3	roll	roll	VERB
cuesj-1036	262	4	58	58	NUM
cuesj-1036	262	5	124	124	NUM
cuesj-1036	262	6	31	31	NUM
cuesj-1036	262	7	pitch	pitch	NOUN
cuesj-1036	262	8	63	63	NUM
cuesj-1036	262	9	131	131	NUM
cuesj-1036	262	10	33	33	NUM
cuesj-1036	262	11	yaw	yaw	NOUN
cuesj-1036	262	12	58	58	NUM
cuesj-1036	262	13	124	124	NUM
cuesj-1036	262	14	0	0	NUM